alignedvector3.cpp
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1 // This file is part of Eigen, a lightweight C++ template library
2 // for linear algebra.
3 //
4 // Copyright (C) 2009 Gael Guennebaud <g.gael@free.fr>
5 //
6 // This Source Code Form is subject to the terms of the Mozilla
7 // Public License v. 2.0. If a copy of the MPL was not distributed
8 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
9 
10 #include "main.h"
11 #include <unsupported/Eigen/AlignedVector3>
12 
13 namespace Eigen {
14 
15 template<typename T,typename Derived>
16 T test_relative_error(const AlignedVector3<T> &a, const MatrixBase<Derived> &b)
17 {
18  return test_relative_error(a.coeffs().template head<3>(), b);
19 }
20 
21 }
22 
23 template<typename Scalar>
25 {
26  Scalar s1 = internal::random<Scalar>();
27  Scalar s2 = internal::random<Scalar>();
28  typedef Matrix<Scalar,3,1> RefType;
29  typedef Matrix<Scalar,3,3> Mat33;
30  typedef AlignedVector3<Scalar> FastType;
31  RefType r1(RefType::Random()), r2(RefType::Random()), r3(RefType::Random()),
32  r4(RefType::Random()), r5(RefType::Random());
33  FastType f1(r1), f2(r2), f3(r3), f4(r4), f5(r5);
34  Mat33 m1(Mat33::Random());
35 
37  VERIFY_IS_APPROX(f4,r4);
38 
42  VERIFY_IS_APPROX(f4+=f3,r4+=r3);
43  VERIFY_IS_APPROX(f4-=f5,r4-=r5);
44  VERIFY_IS_APPROX(f4-=f5+f1,r4-=r5+r1);
45  VERIFY_IS_APPROX(f5+f1-s1*f2,r5+r1-s1*r2);
46  VERIFY_IS_APPROX(f5+f1/s2-s1*f2,r5+r1/s2-s1*r2);
47 
48  VERIFY_IS_APPROX(m1*f4,m1*r4);
49  VERIFY_IS_APPROX(f4.transpose()*m1,r4.transpose()*m1);
50 
51  VERIFY_IS_APPROX(f2.dot(f3),r2.dot(r3));
52  VERIFY_IS_APPROX(f2.cross(f3),r2.cross(r3));
53  VERIFY_IS_APPROX(f2.norm(),r2.norm());
54 
55  VERIFY_IS_APPROX(f2.normalized(),r2.normalized());
56 
57  VERIFY_IS_APPROX((f2+f1).normalized(),(r2+r1).normalized());
58 
59  f2.normalize();
60  r2.normalize();
61  VERIFY_IS_APPROX(f2,r2);
62 
63  {
64  FastType f6 = RefType::Zero();
65  FastType f7 = FastType::Zero();
66  VERIFY_IS_APPROX(f6,f7);
67  f6 = r4+r1;
68  VERIFY_IS_APPROX(f6,r4+r1);
69  f6 -= Scalar(2)*r4;
70  VERIFY_IS_APPROX(f6,r1-r4);
71  }
72 
73  std::stringstream ss1, ss2;
74  ss1 << f1;
75  ss2 << r1;
76  VERIFY(ss1.str()==ss2.str());
77 }
78 
80 {
81  for(int i = 0; i < g_repeat; i++) {
82  CALL_SUBTEST( alignedvector3<float>() );
83  }
84 }
SCALAR Scalar
Definition: bench_gemm.cpp:33
void test_alignedvector3()
Scalar * b
Definition: benchVecAdd.cpp:17
Vector6 f6(const double x1, const double x2, const double x3, const double x4, const double x5, const double x6)
Namespace containing all symbols from the Eigen library.
Definition: jet.h:637
double f2(const Vector2 &x)
Array33i a
void alignedvector3()
#define VERIFY_IS_APPROX(a, b)
Matrix3d m1
Definition: IOFormat.cpp:2
static int g_repeat
Definition: main.h:144
static const double r2
static const double r3
static const double r1
#define CALL_SUBTEST(FUNC)
Definition: main.h:342
#define VERIFY(a)
Definition: main.h:325
Point2 f1(const Point3 &p, OptionalJacobian< 2, 3 > H)
double f4(double x, double y, double z)
double f3(double x1, double x2)
NumTraits< typename T1::RealScalar >::NonInteger test_relative_error(const EigenBase< T1 > &a, const EigenBase< T2 > &b)
Definition: main.h:435
Base class for all dense matrices, vectors, and expressions.
Definition: MatrixBase.h:48


gtsam
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autogenerated on Sat May 8 2021 02:41:36