1 // This file is part of Eigen, a lightweight C++ template library
2 // for linear algebra.
3 //
4 // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
5 // Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@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 #include <Eigen/Geometry>
13 #include <Eigen/LU>
14 #include <Eigen/QR>
15
parametrizedline(const LineType & _line)16 template<typename LineType> void parametrizedline(const LineType& _line)
17 {
18 /* this test covers the following files:
19 ParametrizedLine.h
20 */
21 typedef typename LineType::Index Index;
22 const Index dim = _line.dim();
23 typedef typename LineType::Scalar Scalar;
24 typedef typename NumTraits<Scalar>::Real RealScalar;
25 typedef Matrix<Scalar, LineType::AmbientDimAtCompileTime, 1> VectorType;
26 typedef Matrix<Scalar, LineType::AmbientDimAtCompileTime,
27 LineType::AmbientDimAtCompileTime> MatrixType;
28 typedef Hyperplane<Scalar,LineType::AmbientDimAtCompileTime> HyperplaneType;
29
30 VectorType p0 = VectorType::Random(dim);
31 VectorType p1 = VectorType::Random(dim);
32
33 VectorType d0 = VectorType::Random(dim).normalized();
34
35 LineType l0(p0, d0);
36
37 Scalar s0 = internal::random<Scalar>();
38 Scalar s1 = internal::abs(internal::random<Scalar>());
39
40 VERIFY_IS_MUCH_SMALLER_THAN( l0.distance(p0), RealScalar(1) );
41 VERIFY_IS_MUCH_SMALLER_THAN( l0.distance(p0+s0*d0), RealScalar(1) );
42 VERIFY_IS_APPROX( (l0.projection(p1)-p1).norm(), l0.distance(p1) );
43 VERIFY_IS_MUCH_SMALLER_THAN( l0.distance(l0.projection(p1)), RealScalar(1) );
44 VERIFY_IS_APPROX( Scalar(l0.distance((p0+s0*d0) + d0.unitOrthogonal() * s1)), s1 );
45
46 // casting
47 const int Dim = LineType::AmbientDimAtCompileTime;
48 typedef typename GetDifferentType<Scalar>::type OtherScalar;
49 ParametrizedLine<OtherScalar,Dim> hp1f = l0.template cast<OtherScalar>();
50 VERIFY_IS_APPROX(hp1f.template cast<Scalar>(),l0);
51 ParametrizedLine<Scalar,Dim> hp1d = l0.template cast<Scalar>();
52 VERIFY_IS_APPROX(hp1d.template cast<Scalar>(),l0);
53
54 // intersections
55 VectorType p2 = VectorType::Random(dim);
56 VectorType n2 = VectorType::Random(dim).normalized();
57 HyperplaneType hp(p2,n2);
58 Scalar t = l0.intersectionParameter(hp);
59 VectorType pi = l0.pointAt(t);
60 VERIFY_IS_MUCH_SMALLER_THAN(hp.signedDistance(pi), RealScalar(1));
61 VERIFY_IS_MUCH_SMALLER_THAN(l0.distance(pi), RealScalar(1));
62 VERIFY_IS_APPROX(l0.intersectionPoint(hp), pi);
63 }
64
parametrizedline_alignment()65 template<typename Scalar> void parametrizedline_alignment()
66 {
67 typedef ParametrizedLine<Scalar,4,AutoAlign> Line4a;
68 typedef ParametrizedLine<Scalar,4,DontAlign> Line4u;
69
70 EIGEN_ALIGN16 Scalar array1[8];
71 EIGEN_ALIGN16 Scalar array2[8];
72 EIGEN_ALIGN16 Scalar array3[8+1];
73 Scalar* array3u = array3+1;
74
75 Line4a *p1 = ::new(reinterpret_cast<void*>(array1)) Line4a;
76 Line4u *p2 = ::new(reinterpret_cast<void*>(array2)) Line4u;
77 Line4u *p3 = ::new(reinterpret_cast<void*>(array3u)) Line4u;
78
79 p1->origin().setRandom();
80 p1->direction().setRandom();
81 *p2 = *p1;
82 *p3 = *p1;
83
84 VERIFY_IS_APPROX(p1->origin(), p2->origin());
85 VERIFY_IS_APPROX(p1->origin(), p3->origin());
86 VERIFY_IS_APPROX(p1->direction(), p2->direction());
87 VERIFY_IS_APPROX(p1->direction(), p3->direction());
88
89 #if defined(EIGEN_VECTORIZE) && EIGEN_ALIGN_STATICALLY
90 if(internal::packet_traits<Scalar>::Vectorizable)
91 VERIFY_RAISES_ASSERT((::new(reinterpret_cast<void*>(array3u)) Line4a));
92 #endif
93 }
94
test_geo_parametrizedline()95 void test_geo_parametrizedline()
96 {
97 for(int i = 0; i < g_repeat; i++) {
98 CALL_SUBTEST_1( parametrizedline(ParametrizedLine<float,2>()) );
99 CALL_SUBTEST_2( parametrizedline(ParametrizedLine<float,3>()) );
100 CALL_SUBTEST_2( parametrizedline_alignment<float>() );
101 CALL_SUBTEST_3( parametrizedline(ParametrizedLine<double,4>()) );
102 CALL_SUBTEST_3( parametrizedline_alignment<double>() );
103 CALL_SUBTEST_4( parametrizedline(ParametrizedLine<std::complex<double>,5>()) );
104 }
105 }
106