91 void run_test(int dim, int num_elements)  in run_test()  argument
102   MatrixX R = randMatrixSpecialUnitary<Scalar>(dim);  in run_test()
103   VectorX t = Scalar(50)*VectorX::Random(dim,1);  in run_test()
105   MatrixX cR_t = MatrixX::Identity(dim+1,dim+1);  in run_test()
106   cR_t.block(0,0,dim,dim) = c*R;  in run_test()
107   cR_t.block(0,dim,dim,1) = t;  in run_test()
109   MatrixX src = MatrixX::Random(dim+1, num_elements);  in run_test()
110   src.row(dim) = Matrix<Scalar, 1, Dynamic>::Constant(num_elements, Scalar(1));  in run_test()
114   MatrixX cR_t_umeyama = umeyama(src.block(0,0,dim,num_elements), dst.block(0,0,dim,num_elements));  in run_test()
129   const int dim = Dimension;  in run_fixed_size_test()  local
136   FixedMatrix R = randMatrixSpecialUnitary<Scalar>(dim);  in run_fixed_size_test()
137   FixedVector t = Scalar(32)*FixedVector::Random(dim,1);  in run_fixed_size_test()
139   HomMatrix cR_t = HomMatrix::Identity(dim+1,dim+1);  in run_fixed_size_test()
140   cR_t.block(0,0,dim,dim) = c*R;  in run_fixed_size_test()
141   cR_t.block(0,dim,dim,1) = t;  in run_fixed_size_test()
143   MatrixX src = MatrixX::Random(dim+1, num_elements);  in run_fixed_size_test()
144   src.row(dim) = Matrix<Scalar, 1, Dynamic>::Constant(num_elements, Scalar(1));  in run_fixed_size_test()
148   Block<MatrixX, Dimension, Dynamic> src_block(src,0,0,dim,num_elements);  in run_fixed_size_test()
149   Block<MatrixX, Dimension, Dynamic> dst_block(dst,0,0,dim,num_elements);  in run_fixed_size_test()
165     for (int dim=2; dim<8; ++dim)  in test_umeyama()  local
167       CALL_SUBTEST_1(run_test<MatrixXd>(dim, num_elements));  in test_umeyama()
168       CALL_SUBTEST_2(run_test<MatrixXf>(dim, num_elements));  in test_umeyama()