stdlist_overload.cpp
Go to the documentation of this file.
1 // This file is part of Eigen, a lightweight C++ template library
2 // for linear algebra.
3 //
4 // Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
5 // Copyright (C) 2010 Hauke Heibel <hauke.heibel@gmail.com>
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 
13 #include <Eigen/StdList>
14 #include <Eigen/Geometry>
15 
17 
21 
24 
27 
28 template <class Container, class Position>
29 typename Container::iterator get(Container & c, Position position)
30 {
31  typename Container::iterator it = c.begin();
32  std::advance(it, position);
33  return it;
34 }
35 
36 template <class Container, class Position, class Value>
37 void set(Container & c, Position position, const Value & value)
38 {
39  typename Container::iterator it = c.begin();
40  std::advance(it, position);
41  *it = value;
42 }
43 
44 template<typename MatrixType>
46 {
47  Index rows = m.rows();
48  Index cols = m.cols();
49  MatrixType x = MatrixType::Random(rows,cols), y = MatrixType::Random(rows,cols);
50  std::list<MatrixType> v(10, MatrixType::Zero(rows,cols)), w(20, y);
51  typename std::list<MatrixType>::iterator itv = get(v, 5);
52  typename std::list<MatrixType>::iterator itw = get(w, 6);
53  *itv = x;
54  *itw = *itv;
55  VERIFY_IS_APPROX(*itw, *itv);
56  v = w;
57  itv = v.begin();
58  itw = w.begin();
59  for(int i = 0; i < 20; i++)
60  {
61  VERIFY_IS_APPROX(*itw, *itv);
62  ++itv;
63  ++itw;
64  }
65 
66  v.resize(21);
67  set(v, 20, x);
68  VERIFY_IS_APPROX(*get(v, 20), x);
69  v.resize(22,y);
70  VERIFY_IS_APPROX(*get(v, 21), y);
71  v.push_back(x);
72  VERIFY_IS_APPROX(*get(v, 22), x);
73 
74  // do a lot of push_back such that the list gets internally resized
75  // (with memory reallocation)
76  MatrixType* ref = &(*get(w, 0));
77  for(int i=0; i<30 || ((ref==&(*get(w, 0))) && i<300); ++i)
78  v.push_back(*get(w, i%w.size()));
79  for(unsigned int i=23; i<v.size(); ++i)
80  {
81  VERIFY((*get(v, i))==(*get(w, (i-23)%w.size())));
82  }
83 }
84 
85 template<typename TransformType>
86 void check_stdlist_transform(const TransformType&)
87 {
88  typedef typename TransformType::MatrixType MatrixType;
89  TransformType x(MatrixType::Random()), y(MatrixType::Random()), ti=TransformType::Identity();
90  std::list<TransformType> v(10,ti), w(20, y);
91  typename std::list<TransformType>::iterator itv = get(v, 5);
92  typename std::list<TransformType>::iterator itw = get(w, 6);
93  *itv = x;
94  *itw = *itv;
95  VERIFY_IS_APPROX(*itw, *itv);
96  v = w;
97  itv = v.begin();
98  itw = w.begin();
99  for(int i = 0; i < 20; i++)
100  {
101  VERIFY_IS_APPROX(*itw, *itv);
102  ++itv;
103  ++itw;
104  }
105 
106  v.resize(21, ti);
107  set(v, 20, x);
108  VERIFY_IS_APPROX(*get(v, 20), x);
109  v.resize(22,y);
110  VERIFY_IS_APPROX(*get(v, 21), y);
111  v.push_back(x);
112  VERIFY_IS_APPROX(*get(v, 22), x);
113 
114  // do a lot of push_back such that the list gets internally resized
115  // (with memory reallocation)
116  TransformType* ref = &(*get(w, 0));
117  for(int i=0; i<30 || ((ref==&(*get(w, 0))) && i<300); ++i)
118  v.push_back(*get(w, i%w.size()));
119  for(unsigned int i=23; i<v.size(); ++i)
120  {
121  VERIFY(get(v, i)->matrix()==get(w, (i-23)%w.size())->matrix());
122  }
123 }
124 
125 template<typename QuaternionType>
126 void check_stdlist_quaternion(const QuaternionType&)
127 {
128  typedef typename QuaternionType::Coefficients Coefficients;
129  QuaternionType x(Coefficients::Random()), y(Coefficients::Random()), qi=QuaternionType::Identity();
130  std::list<QuaternionType> v(10,qi), w(20, y);
131  typename std::list<QuaternionType>::iterator itv = get(v, 5);
132  typename std::list<QuaternionType>::iterator itw = get(w, 6);
133  *itv = x;
134  *itw = *itv;
135  VERIFY_IS_APPROX(*itw, *itv);
136  v = w;
137  itv = v.begin();
138  itw = w.begin();
139  for(int i = 0; i < 20; i++)
140  {
141  VERIFY_IS_APPROX(*itw, *itv);
142  ++itv;
143  ++itw;
144  }
145 
146  v.resize(21,qi);
147  set(v, 20, x);
148  VERIFY_IS_APPROX(*get(v, 20), x);
149  v.resize(22,y);
150  VERIFY_IS_APPROX(*get(v, 21), y);
151  v.push_back(x);
152  VERIFY_IS_APPROX(*get(v, 22), x);
153 
154  // do a lot of push_back such that the list gets internally resized
155  // (with memory reallocation)
156  QuaternionType* ref = &(*get(w, 0));
157  for(int i=0; i<30 || ((ref==&(*get(w, 0))) && i<300); ++i)
158  v.push_back(*get(w, i%w.size()));
159  for(unsigned int i=23; i<v.size(); ++i)
160  {
161  VERIFY(get(v, i)->coeffs()==get(w, (i-23)%w.size())->coeffs());
162  }
163 }
164 
165 EIGEN_DECLARE_TEST(stdlist_overload)
166 {
167  // some non vectorizable fixed sizes
171 
172  // some vectorizable fixed sizes
177 
178  // some dynamic sizes
179  CALL_SUBTEST_3(check_stdlist_matrix(MatrixXd(1,1)));
180  CALL_SUBTEST_3(check_stdlist_matrix(VectorXd(20)));
181  CALL_SUBTEST_3(check_stdlist_matrix(RowVectorXf(20)));
182  CALL_SUBTEST_3(check_stdlist_matrix(MatrixXcf(10,10)));
183 
184  // some Transform
185  CALL_SUBTEST_4(check_stdlist_transform(Affine2f())); // does not need the specialization (2+1)^2 = 9
188 
189  // some Quaternion
192 }
w
RowVector3d w
Definition: Matrix_resize_int.cpp:3
check_stdlist_quaternion
void check_stdlist_quaternion(const QuaternionType &)
Definition: stdlist_overload.cpp:126
Eigen::Affine2f
Transform< float, 2, Affine > Affine2f
Definition: Transform.h:704
Eigen::Transform
Represents an homogeneous transformation in a N dimensional space.
Definition: ForwardDeclarations.h:294
MatrixType
MatrixXf MatrixType
Definition: benchmark-blocking-sizes.cpp:52
c
Scalar Scalar * c
Definition: benchVecAdd.cpp:17
x
set noclip points set clip one set noclip two set bar set border lt lw set xdata set ydata set zdata set x2data set y2data set boxwidth set dummy x
Definition: gnuplot_common_settings.hh:12
rows
int rows
Definition: Tutorial_commainit_02.cpp:1
Eigen::Affine3f
Transform< float, 3, Affine > Affine3f
Definition: Transform.h:706
CALL_SUBTEST_4
#define CALL_SUBTEST_4(FUNC)
Definition: split_test_helper.h:22
CALL_SUBTEST_3
#define CALL_SUBTEST_3(FUNC)
Definition: split_test_helper.h:16
CALL_SUBTEST_1
#define CALL_SUBTEST_1(FUNC)
Definition: split_test_helper.h:4
check_stdlist_matrix
void check_stdlist_matrix(const MatrixType &m)
Definition: stdlist_overload.cpp:45
check_stdlist_transform
void check_stdlist_transform(const TransformType &)
Definition: stdlist_overload.cpp:86
Eigen::Quaternionf
Quaternion< float > Quaternionf
Definition: 3rdparty/Eigen/Eigen/src/Geometry/Quaternion.h:363
CALL_SUBTEST_5
#define CALL_SUBTEST_5(FUNC)
Definition: split_test_helper.h:28
Eigen::Quaterniond
Quaternion< double > Quaterniond
Definition: 3rdparty/Eigen/Eigen/src/Geometry/Quaternion.h:366
EIGEN_DEFINE_STL_LIST_SPECIALIZATION
#define EIGEN_DEFINE_STL_LIST_SPECIALIZATION(...)
Definition: StdList.h:20
m
Matrix3f m
Definition: AngleAxis_mimic_euler.cpp:1
CALL_SUBTEST_2
#define CALL_SUBTEST_2(FUNC)
Definition: split_test_helper.h:10
y
Scalar * y
Definition: level1_cplx_impl.h:124
matrix
Map< Matrix< T, Dynamic, Dynamic, ColMajor >, 0, OuterStride<> > matrix(T *data, int rows, int cols, int stride)
Definition: gtsam/3rdparty/Eigen/blas/common.h:110
set
void set(Container &c, Position position, const Value &value)
Definition: stdlist_overload.cpp:37
VERIFY_IS_APPROX
#define VERIFY_IS_APPROX(a, b)
Definition: integer_types.cpp:15
Eigen::Quaternion
The quaternion class used to represent 3D orientations and rotations.
Definition: ForwardDeclarations.h:293
main.h
ref
Reference counting helper.
Definition: object.h:67
v
Array< int, Dynamic, 1 > v
Definition: Array_initializer_list_vector_cxx11.cpp:1
gtsam::internal::position
Point3 position(const NavState &X, OptionalJacobian< 3, 9 > H)
Definition: navigation/expressions.h:25
EIGEN_DECLARE_TEST
EIGEN_DECLARE_TEST(stdlist_overload)
Definition: stdlist_overload.cpp:165
cols
int cols
Definition: Tutorial_commainit_02.cpp:1
get
Container::iterator get(Container &c, Position position)
Definition: stdlist_overload.cpp:29
Eigen::Affine3d
Transform< double, 3, Affine > Affine3d
Definition: Transform.h:710
test_callbacks.value
value
Definition: test_callbacks.py:158
i
int i
Definition: BiCGSTAB_step_by_step.cpp:9
VERIFY
#define VERIFY(a)
Definition: main.h:380
Eigen::Index
EIGEN_DEFAULT_DENSE_INDEX_TYPE Index
The Index type as used for the API.
Definition: Meta.h:74


gtsam
Author(s):
autogenerated on Thu Jun 13 2024 03:06:32