1 // This file is part of Eigen, a lightweight C++ template library
2 // for linear algebra.
3 //
4 // Copyright (C) 2008 Gael Guennebaud <[email protected]>
5 // Copyright (C) 2008 Benoit Jacob <[email protected]>
6 //
7 // This Source Code Form is subject to the terms of the Mozilla
8 // Public License v. 2.0. If a copy of the MPL was not distributed
9 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
10
11 #include "main.h"
12 #include <Eigen/Geometry>
13 #include <Eigen/LU>
14 #include <Eigen/QR>
15
parametrizedline(const LineType & _line)16 template<typename LineType> void parametrizedline(const LineType& _line)
17 {
18 /* this test covers the following files:
19 ParametrizedLine.h
20 */
21 using std::abs;
22 const Index dim = _line.dim();
23 typedef typename LineType::Scalar Scalar;
24 typedef typename NumTraits<Scalar>::Real RealScalar;
25 typedef Matrix<Scalar, LineType::AmbientDimAtCompileTime, 1> VectorType;
26 typedef Hyperplane<Scalar,LineType::AmbientDimAtCompileTime> HyperplaneType;
27 typedef Matrix<Scalar, HyperplaneType::AmbientDimAtCompileTime,
28 HyperplaneType::AmbientDimAtCompileTime> MatrixType;
29
30 VectorType p0 = VectorType::Random(dim);
31 VectorType p1 = VectorType::Random(dim);
32
33 VectorType d0 = VectorType::Random(dim).normalized();
34
35 LineType l0(p0, d0);
36
37 Scalar s0 = internal::random<Scalar>();
38 Scalar s1 = abs(internal::random<Scalar>());
39
40 VERIFY_IS_MUCH_SMALLER_THAN( l0.distance(p0), RealScalar(1) );
41 VERIFY_IS_MUCH_SMALLER_THAN( l0.distance(p0+s0*d0), RealScalar(1) );
42 VERIFY_IS_APPROX( (l0.projection(p1)-p1).norm(), l0.distance(p1) );
43 VERIFY_IS_MUCH_SMALLER_THAN( l0.distance(l0.projection(p1)), RealScalar(1) );
44 VERIFY_IS_APPROX( Scalar(l0.distance((p0+s0*d0) + d0.unitOrthogonal() * s1)), s1 );
45
46 // casting
47 const int Dim = LineType::AmbientDimAtCompileTime;
48 typedef typename GetDifferentType<Scalar>::type OtherScalar;
49 ParametrizedLine<OtherScalar,Dim> hp1f = l0.template cast<OtherScalar>();
50 VERIFY_IS_APPROX(hp1f.template cast<Scalar>(),l0);
51 ParametrizedLine<Scalar,Dim> hp1d = l0.template cast<Scalar>();
52 VERIFY_IS_APPROX(hp1d.template cast<Scalar>(),l0);
53
54 // intersections
55 VectorType p2 = VectorType::Random(dim);
56 VectorType n2 = VectorType::Random(dim).normalized();
57 HyperplaneType hp(p2,n2);
58 Scalar t = l0.intersectionParameter(hp);
59 VectorType pi = l0.pointAt(t);
60 VERIFY_IS_MUCH_SMALLER_THAN(hp.signedDistance(pi), RealScalar(1));
61 VERIFY_IS_MUCH_SMALLER_THAN(l0.distance(pi), RealScalar(1));
62 VERIFY_IS_APPROX(l0.intersectionPoint(hp), pi);
63
64 // transform
65 if (!NumTraits<Scalar>::IsComplex)
66 {
67 MatrixType rot = MatrixType::Random(dim,dim).householderQr().householderQ();
68 DiagonalMatrix<Scalar,LineType::AmbientDimAtCompileTime> scaling(VectorType::Random());
69 Translation<Scalar,LineType::AmbientDimAtCompileTime> translation(VectorType::Random());
70
71 while(scaling.diagonal().cwiseAbs().minCoeff()<RealScalar(1e-4)) scaling.diagonal() = VectorType::Random();
72
73 LineType l1 = l0;
74 VectorType p3 = l0.pointAt(Scalar(1));
75 VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot).distance(rot * p3), Scalar(1) );
76 l1 = l0;
77 VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot,Isometry).distance(rot * p3), Scalar(1) );
78 l1 = l0;
79 VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot*scaling).distance((rot*scaling) * p3), Scalar(1) );
80 l1 = l0;
81 VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot*scaling*translation)
82 .distance((rot*scaling*translation) * p3), Scalar(1) );
83 l1 = l0;
84 VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot*translation,Isometry)
85 .distance((rot*translation) * p3), Scalar(1) );
86 }
87
88 }
89
parametrizedline_alignment()90 template<typename Scalar> void parametrizedline_alignment()
91 {
92 typedef ParametrizedLine<Scalar,4,AutoAlign> Line4a;
93 typedef ParametrizedLine<Scalar,4,DontAlign> Line4u;
94
95 EIGEN_ALIGN_MAX Scalar array1[16];
96 EIGEN_ALIGN_MAX Scalar array2[16];
97 EIGEN_ALIGN_MAX Scalar array3[16+1];
98 Scalar* array3u = array3+1;
99
100 Line4a *p1 = ::new(reinterpret_cast<void*>(array1)) Line4a;
101 Line4u *p2 = ::new(reinterpret_cast<void*>(array2)) Line4u;
102 Line4u *p3 = ::new(reinterpret_cast<void*>(array3u)) Line4u;
103
104 p1->origin().setRandom();
105 p1->direction().setRandom();
106 *p2 = *p1;
107 *p3 = *p1;
108
109 VERIFY_IS_APPROX(p1->origin(), p2->origin());
110 VERIFY_IS_APPROX(p1->origin(), p3->origin());
111 VERIFY_IS_APPROX(p1->direction(), p2->direction());
112 VERIFY_IS_APPROX(p1->direction(), p3->direction());
113 }
114
EIGEN_DECLARE_TEST(geo_parametrizedline)115 EIGEN_DECLARE_TEST(geo_parametrizedline)
116 {
117 for(int i = 0; i < g_repeat; i++) {
118 CALL_SUBTEST_1( parametrizedline(ParametrizedLine<float,2>()) );
119 CALL_SUBTEST_2( parametrizedline(ParametrizedLine<float,3>()) );
120 CALL_SUBTEST_2( parametrizedline_alignment<float>() );
121 CALL_SUBTEST_3( parametrizedline(ParametrizedLine<double,4>()) );
122 CALL_SUBTEST_3( parametrizedline_alignment<double>() );
123 CALL_SUBTEST_4( parametrizedline(ParametrizedLine<std::complex<double>,5>()) );
124 }
125 }
126