shape_reconstruction: alignedvector3.cpp Source File

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00001 // This file is part of Eigen, a lightweight C++ template library
00002 // for linear algebra.
00003 //
00004 // Copyright (C) 2009 Gael Guennebaud <g.gael@free.fr>
00005 //
00006 // This Source Code Form is subject to the terms of the Mozilla
00007 // Public License v. 2.0. If a copy of the MPL was not distributed
00008 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
00009 
00010 #include "main.h"
00011 #include <unsupported/Eigen/AlignedVector3>
00012 
00013 template<typename Scalar>
00014 void alignedvector3()
00015 {
00016   Scalar s1 = internal::random<Scalar>();
00017   Scalar s2 = internal::random<Scalar>();
00018   typedef Matrix<Scalar,3,1> RefType;
00019   typedef Matrix<Scalar,3,3> Mat33;
00020   typedef AlignedVector3<Scalar> FastType;
00021   RefType  r1(RefType::Random()), r2(RefType::Random()), r3(RefType::Random()),
00022            r4(RefType::Random()), r5(RefType::Random()), r6(RefType::Random());
00023   FastType f1(r1), f2(r2), f3(r3), f4(r4), f5(r5), f6(r6);
00024   Mat33 m1(Mat33::Random());
00025   
00026   VERIFY_IS_APPROX(f1,r1);
00027   VERIFY_IS_APPROX(f4,r4);
00028 
00029   VERIFY_IS_APPROX(f4+f1,r4+r1);
00030   VERIFY_IS_APPROX(f4-f1,r4-r1);
00031   VERIFY_IS_APPROX(f4+f1-f2,r4+r1-r2);
00032   VERIFY_IS_APPROX(f4+=f3,r4+=r3);
00033   VERIFY_IS_APPROX(f4-=f5,r4-=r5);
00034   VERIFY_IS_APPROX(f4-=f5+f1,r4-=r5+r1);
00035   VERIFY_IS_APPROX(f5+f1-s1*f2,r5+r1-s1*r2);
00036   VERIFY_IS_APPROX(f5+f1/s2-s1*f2,r5+r1/s2-s1*r2);
00037   
00038   VERIFY_IS_APPROX(m1*f4,m1*r4);
00039   VERIFY_IS_APPROX(f4.transpose()*m1,r4.transpose()*m1);
00040   
00041   VERIFY_IS_APPROX(f2.dot(f3),r2.dot(r3));
00042   VERIFY_IS_APPROX(f2.cross(f3),r2.cross(r3));
00043   VERIFY_IS_APPROX(f2.norm(),r2.norm());
00044 
00045   VERIFY_IS_APPROX(f2.normalized(),r2.normalized());
00046 
00047   VERIFY_IS_APPROX((f2+f1).normalized(),(r2+r1).normalized());
00048   
00049   f2.normalize();
00050   r2.normalize();
00051   VERIFY_IS_APPROX(f2,r2);
00052 }
00053 
00054 void test_alignedvector3()
00055 {
00056   for(int i = 0; i < g_repeat; i++) {
00057     CALL_SUBTEST( alignedvector3<float>() );
00058   }
00059 }