Quelle geo_parametrizedline.cpp Sprache: C

// This file is part of Eigen, a lightweight C++ template library
// for linear algebra.
//
// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
//
// 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/QR>

template<typename LineType> void parametrizedline(const LineType& _line)
{
  /* this test covers the following files:
     ParametrizedLine.h
  */
  using std::abs;
  const Index dim = _line.dim();
  typedef typename LineType::Scalar Scalar;
  typedef typename NumTraits<Scalar>::Real RealScalar;
  typedef Matrix<Scalar, LineType::AmbientDimAtCompileTime, 1> VectorType;
  typedef Hyperplane<Scalar,LineType::AmbientDimAtCompileTime> HyperplaneType;
  typedef Matrix<Scalar, HyperplaneType::AmbientDimAtCompileTime,
                         HyperplaneType::AmbientDimAtCompileTime> MatrixType;

  VectorType p0 = VectorType::Random(dim);
  VectorType p1 = VectorType::Random(dim);

  VectorType d0 = VectorType::Random(dim).normalized();

  LineType l0(p0, d0);

  Scalar s0 = internal::random<Scalar>();
  Scalar s1 = abs(internal::random<Scalar>());

  VERIFY_IS_MUCH_SMALLER_THAN( l0.distance(p0), RealScalar(1) );
  VERIFY_IS_MUCH_SMALLER_THAN( l0.distance(p0+s0*d0), RealScalar(1) );
  VERIFY_IS_APPROX( (l0.projection(p1)-p1).norm(), l0.distance(p1) );
  VERIFY_IS_MUCH_SMALLER_THAN( l0.distance(l0.projection(p1)), RealScalar(1) );
  VERIFY_IS_APPROX( Scalar(l0.distance((p0+s0*d0) + d0.unitOrthogonal() * s1)), s1 );

  // casting
  const int Dim = LineType::AmbientDimAtCompileTime;
  typedef typename GetDifferentType<Scalar>::type OtherScalar;
  ParametrizedLine<OtherScalar,Dim> hp1f = l0.template cast<OtherScalar>();
  VERIFY_IS_APPROX(hp1f.template cast<Scalar>(),l0);
  ParametrizedLine<Scalar,Dim> hp1d = l0.template cast<Scalar>();
  VERIFY_IS_APPROX(hp1d.template cast<Scalar>(),l0);

  // intersections
  VectorType p2 = VectorType::Random(dim);
  VectorType n2 = VectorType::Random(dim).normalized();
  HyperplaneType hp(p2,n2);
  Scalar t = l0.intersectionParameter(hp);
  VectorType pi = l0.pointAt(t);
  VERIFY_IS_MUCH_SMALLER_THAN(hp.signedDistance(pi), RealScalar(1));
  VERIFY_IS_MUCH_SMALLER_THAN(l0.distance(pi), RealScalar(1));
  VERIFY_IS_APPROX(l0.intersectionPoint(hp), pi);

  // transform
  if (!NumTraits<Scalar>::IsComplex)
  {
    MatrixType rot = MatrixType::Random(dim,dim).householderQr().householderQ();
    DiagonalMatrix<Scalar,LineType::AmbientDimAtCompileTime> scaling(VectorType::Random());
    Translation<Scalar,LineType::AmbientDimAtCompileTime> translation(VectorType::Random());

    while(scaling.diagonal().cwiseAbs().minCoeff()<RealScalar(1e-4)) scaling.diagonal() = VectorType::Random();

    LineType l1 = l0;
    VectorType p3 = l0.pointAt(Scalar(1));
    VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot).distance(rot * p3), Scalar(1) );
    l1 = l0;
    VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot,Isometry).distance(rot * p3), Scalar(1) );
    l1 = l0;
    VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot*scaling).distance((rot*scaling) * p3), Scalar(1) );
    l1 = l0;
    VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot*scaling*translation)
                                   .distance((rot*scaling*translation) * p3), Scalar(1) );
    l1 = l0;
    VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot*translation,Isometry)
                                   .distance((rot*translation) * p3), Scalar(1) );
  }

}

template<typename Scalar> void parametrizedline_alignment()
{
  typedef ParametrizedLine<Scalar,4,AutoAlign> Line4a;
  typedef ParametrizedLine<Scalar,4,DontAlign> Line4u;

  EIGEN_ALIGN_MAX Scalar array1[16];
  EIGEN_ALIGN_MAX Scalar array2[16];
  EIGEN_ALIGN_MAX Scalar array3[16+1];
  Scalar* array3u = array3+1;

  Line4a *p1 = ::new(reinterpret_cast<void*>(array1)) Line4a;
  Line4u *p2 = ::new(reinterpret_cast<void*>(array2)) Line4u;
  Line4u *p3 = ::new(reinterpret_cast<void*>(array3u)) Line4u;

  p1->origin().setRandom();
  p1->direction().setRandom();
  *p2 = *p1;
  *p3 = *p1;

  VERIFY_IS_APPROX(p1->origin(), p2->origin());
  VERIFY_IS_APPROX(p1->origin(), p3->origin());
  VERIFY_IS_APPROX(p1->direction(), p2->direction());
  VERIFY_IS_APPROX(p1->direction(), p3->direction());
}

EIGEN_DECLARE_TEST(geo_parametrizedline)
{
  for(int i = 0; i < g_repeat; i++) {
    CALL_SUBTEST_1( parametrizedline(ParametrizedLine<float,2>()) );
    CALL_SUBTEST_2( parametrizedline(ParametrizedLine<float,3>()) );
    CALL_SUBTEST_2( parametrizedline_alignment<float>() );
    CALL_SUBTEST_3( parametrizedline(ParametrizedLine<double,4>()) );
    CALL_SUBTEST_3( parametrizedline_alignment<double>() );
    CALL_SUBTEST_4( parametrizedline(ParametrizedLine<std::complex<double>,5>()) );
  }
}

quality92%

¤ Dauer der Verarbeitung: 0.16 Sekunden (vorverarbeitet) ¤

Wurzel

Suchen

Beweissystem der NASA

Beweissystem Isabelle

NIST Cobol Testsuite

Cephes Mathematical Library

Wiener Entwicklungsmethode

Haftungshinweis

Die Informationen auf dieser Webseite wurden nach bestem Wissen sorgfältig zusammengestellt. Es wird jedoch weder Vollständigkeit, noch Richtigkeit, noch Qualität der bereit gestellten Informationen zugesichert.

Bemerkung:

Die farbliche Syntaxdarstellung ist noch experimentell.