1 files changed, 121 insertions, 0 deletions
diff --git a/test/geo_orthomethods.cpp b/test/geo_orthomethods.cpp
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+++ b/test/geo_orthomethods.cpp
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+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#include "main.h"
+#include <Eigen/Geometry>
+#include <Eigen/LU>
+#include <Eigen/SVD>
+
+/* this test covers the following files:
+   Geometry/OrthoMethods.h
+*/
+
+template<typename Scalar> void orthomethods_3()
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  typedef Matrix<Scalar,3,3> Matrix3;
+  typedef Matrix<Scalar,3,1> Vector3;
+
+  typedef Matrix<Scalar,4,1> Vector4;
+
+  Vector3 v0 = Vector3::Random(),
+          v1 = Vector3::Random(),
+          v2 = Vector3::Random();
+
+  // cross product
+  VERIFY_IS_MUCH_SMALLER_THAN(v1.cross(v2).dot(v1), Scalar(1));
+  VERIFY_IS_MUCH_SMALLER_THAN(v1.dot(v1.cross(v2)), Scalar(1));
+  VERIFY_IS_MUCH_SMALLER_THAN(v1.cross(v2).dot(v2), Scalar(1));
+  VERIFY_IS_MUCH_SMALLER_THAN(v2.dot(v1.cross(v2)), Scalar(1));
+  Matrix3 mat3;
+  mat3 << v0.normalized(),
+         (v0.cross(v1)).normalized(),
+         (v0.cross(v1).cross(v0)).normalized();
+  VERIFY(mat3.isUnitary());
+
+
+  // colwise/rowwise cross product
+  mat3.setRandom();
+  Vector3 vec3 = Vector3::Random();
+  Matrix3 mcross;
+  int i = internal::random<int>(0,2);
+  mcross = mat3.colwise().cross(vec3);
+  VERIFY_IS_APPROX(mcross.col(i), mat3.col(i).cross(vec3));
+  mcross = mat3.rowwise().cross(vec3);
+  VERIFY_IS_APPROX(mcross.row(i), mat3.row(i).cross(vec3));
+
+  // cross3
+  Vector4 v40 = Vector4::Random(),
+          v41 = Vector4::Random(),
+          v42 = Vector4::Random();
+  v40.w() = v41.w() = v42.w() = 0;
+  v42.template head<3>() = v40.template head<3>().cross(v41.template head<3>());
+  VERIFY_IS_APPROX(v40.cross3(v41), v42);
+  
+  // check mixed product
+  typedef Matrix<RealScalar, 3, 1> RealVector3;
+  RealVector3 rv1 = RealVector3::Random();
+  VERIFY_IS_APPROX(v1.cross(rv1.template cast<Scalar>()), v1.cross(rv1));
+  VERIFY_IS_APPROX(rv1.template cast<Scalar>().cross(v1), rv1.cross(v1));
+}
+
+template<typename Scalar, int Size> void orthomethods(int size=Size)
+{
+  typedef typename NumTraits<Scalar>::Real RealScalar;
+  typedef Matrix<Scalar,Size,1> VectorType;
+  typedef Matrix<Scalar,3,Size> Matrix3N;
+  typedef Matrix<Scalar,Size,3> MatrixN3;
+  typedef Matrix<Scalar,3,1> Vector3;
+
+  VectorType v0 = VectorType::Random(size);
+
+  // unitOrthogonal
+  VERIFY_IS_MUCH_SMALLER_THAN(v0.unitOrthogonal().dot(v0), Scalar(1));
+  VERIFY_IS_APPROX(v0.unitOrthogonal().norm(), RealScalar(1));
+
+  if (size>=3)
+  {
+    v0.template head<2>().setZero();
+    v0.tail(size-2).setRandom();
+
+    VERIFY_IS_MUCH_SMALLER_THAN(v0.unitOrthogonal().dot(v0), Scalar(1));
+    VERIFY_IS_APPROX(v0.unitOrthogonal().norm(), RealScalar(1));
+  }
+
+  // colwise/rowwise cross product
+  Vector3 vec3 = Vector3::Random();
+  int i = internal::random<int>(0,size-1);
+
+  Matrix3N mat3N(3,size), mcross3N(3,size);
+  mat3N.setRandom();
+  mcross3N = mat3N.colwise().cross(vec3);
+  VERIFY_IS_APPROX(mcross3N.col(i), mat3N.col(i).cross(vec3));
+
+  MatrixN3 matN3(size,3), mcrossN3(size,3);
+  matN3.setRandom();
+  mcrossN3 = matN3.rowwise().cross(vec3);
+  VERIFY_IS_APPROX(mcrossN3.row(i), matN3.row(i).cross(vec3));
+}
+
+void test_geo_orthomethods()
+{
+  for(int i = 0; i < g_repeat; i++) {
+    CALL_SUBTEST_1( orthomethods_3<float>() );
+    CALL_SUBTEST_2( orthomethods_3<double>() );
+    CALL_SUBTEST_4( orthomethods_3<std::complex<double> >() );
+    CALL_SUBTEST_1( (orthomethods<float,2>()) );
+    CALL_SUBTEST_2( (orthomethods<double,2>()) );
+    CALL_SUBTEST_1( (orthomethods<float,3>()) );
+    CALL_SUBTEST_2( (orthomethods<double,3>()) );
+    CALL_SUBTEST_3( (orthomethods<float,7>()) );
+    CALL_SUBTEST_4( (orthomethods<std::complex<double>,8>()) );
+    CALL_SUBTEST_5( (orthomethods<float,Dynamic>(36)) );
+    CALL_SUBTEST_6( (orthomethods<double,Dynamic>(35)) );
+  }
+}