1 // This file is part of Eigen, a lightweight C++ template library
2 // for linear algebra.
3 //
4 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.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 <Eigen/Geometry>
12 #include <Eigen/LU>
13 #include <Eigen/QR>
14
15 #include<iostream>
16 using namespace std;
17
18 template<typename T> EIGEN_DONT_INLINE
kill_extra_precision(T & x)19 void kill_extra_precision(T& x) { eigen_assert((void*)(&x) != (void*)0); }
20
21
alignedbox(const BoxType & _box)22 template<typename BoxType> void alignedbox(const BoxType& _box)
23 {
24 /* this test covers the following files:
25 AlignedBox.h
26 */
27 typedef typename BoxType::Index Index;
28 typedef typename BoxType::Scalar Scalar;
29 typedef typename NumTraits<Scalar>::Real RealScalar;
30 typedef Matrix<Scalar, BoxType::AmbientDimAtCompileTime, 1> VectorType;
31
32 const Index dim = _box.dim();
33
34 VectorType p0 = VectorType::Random(dim);
35 VectorType p1 = VectorType::Random(dim);
36 while( p1 == p0 ){
37 p1 = VectorType::Random(dim); }
38 RealScalar s1 = internal::random<RealScalar>(0,1);
39
40 BoxType b0(dim);
41 BoxType b1(VectorType::Random(dim),VectorType::Random(dim));
42 BoxType b2;
43
44 kill_extra_precision(b1);
45 kill_extra_precision(p0);
46 kill_extra_precision(p1);
47
48 b0.extend(p0);
49 b0.extend(p1);
50 VERIFY(b0.contains(p0*s1+(Scalar(1)-s1)*p1));
51 VERIFY(b0.contains(b0.center()));
52 VERIFY_IS_APPROX(b0.center(),(p0+p1)/Scalar(2));
53
54 (b2 = b0).extend(b1);
55 VERIFY(b2.contains(b0));
56 VERIFY(b2.contains(b1));
57 VERIFY_IS_APPROX(b2.clamp(b0), b0);
58
59 // intersection
60 BoxType box1(VectorType::Random(dim));
61 box1.extend(VectorType::Random(dim));
62 BoxType box2(VectorType::Random(dim));
63 box2.extend(VectorType::Random(dim));
64
65 VERIFY(box1.intersects(box2) == !box1.intersection(box2).isEmpty());
66
67 // alignment -- make sure there is no memory alignment assertion
68 BoxType *bp0 = new BoxType(dim);
69 BoxType *bp1 = new BoxType(dim);
70 bp0->extend(*bp1);
71 delete bp0;
72 delete bp1;
73
74 // sampling
75 for( int i=0; i<10; ++i )
76 {
77 VectorType r = b0.sample();
78 VERIFY(b0.contains(r));
79 }
80
81 }
82
83
84
85 template<typename BoxType>
alignedboxCastTests(const BoxType & _box)86 void alignedboxCastTests(const BoxType& _box)
87 {
88 // casting
89 typedef typename BoxType::Index Index;
90 typedef typename BoxType::Scalar Scalar;
91 typedef Matrix<Scalar, BoxType::AmbientDimAtCompileTime, 1> VectorType;
92
93 const Index dim = _box.dim();
94
95 VectorType p0 = VectorType::Random(dim);
96 VectorType p1 = VectorType::Random(dim);
97
98 BoxType b0(dim);
99
100 b0.extend(p0);
101 b0.extend(p1);
102
103 const int Dim = BoxType::AmbientDimAtCompileTime;
104 typedef typename GetDifferentType<Scalar>::type OtherScalar;
105 AlignedBox<OtherScalar,Dim> hp1f = b0.template cast<OtherScalar>();
106 VERIFY_IS_APPROX(hp1f.template cast<Scalar>(),b0);
107 AlignedBox<Scalar,Dim> hp1d = b0.template cast<Scalar>();
108 VERIFY_IS_APPROX(hp1d.template cast<Scalar>(),b0);
109 }
110
111
specificTest1()112 void specificTest1()
113 {
114 Vector2f m; m << -1.0f, -2.0f;
115 Vector2f M; M << 1.0f, 5.0f;
116
117 typedef AlignedBox2f BoxType;
118 BoxType box( m, M );
119
120 Vector2f sides = M-m;
121 VERIFY_IS_APPROX(sides, box.sizes() );
122 VERIFY_IS_APPROX(sides[1], box.sizes()[1] );
123 VERIFY_IS_APPROX(sides[1], box.sizes().maxCoeff() );
124 VERIFY_IS_APPROX(sides[0], box.sizes().minCoeff() );
125
126 VERIFY_IS_APPROX( 14.0f, box.volume() );
127 VERIFY_IS_APPROX( 53.0f, box.diagonal().squaredNorm() );
128 VERIFY_IS_APPROX( std::sqrt( 53.0f ), box.diagonal().norm() );
129
130 VERIFY_IS_APPROX( m, box.corner( BoxType::BottomLeft ) );
131 VERIFY_IS_APPROX( M, box.corner( BoxType::TopRight ) );
132 Vector2f bottomRight; bottomRight << M[0], m[1];
133 Vector2f topLeft; topLeft << m[0], M[1];
134 VERIFY_IS_APPROX( bottomRight, box.corner( BoxType::BottomRight ) );
135 VERIFY_IS_APPROX( topLeft, box.corner( BoxType::TopLeft ) );
136 }
137
138
specificTest2()139 void specificTest2()
140 {
141 Vector3i m; m << -1, -2, 0;
142 Vector3i M; M << 1, 5, 3;
143
144 typedef AlignedBox3i BoxType;
145 BoxType box( m, M );
146
147 Vector3i sides = M-m;
148 VERIFY_IS_APPROX(sides, box.sizes() );
149 VERIFY_IS_APPROX(sides[1], box.sizes()[1] );
150 VERIFY_IS_APPROX(sides[1], box.sizes().maxCoeff() );
151 VERIFY_IS_APPROX(sides[0], box.sizes().minCoeff() );
152
153 VERIFY_IS_APPROX( 42, box.volume() );
154 VERIFY_IS_APPROX( 62, box.diagonal().squaredNorm() );
155
156 VERIFY_IS_APPROX( m, box.corner( BoxType::BottomLeftFloor ) );
157 VERIFY_IS_APPROX( M, box.corner( BoxType::TopRightCeil ) );
158 Vector3i bottomRightFloor; bottomRightFloor << M[0], m[1], m[2];
159 Vector3i topLeftFloor; topLeftFloor << m[0], M[1], m[2];
160 VERIFY_IS_APPROX( bottomRightFloor, box.corner( BoxType::BottomRightFloor ) );
161 VERIFY_IS_APPROX( topLeftFloor, box.corner( BoxType::TopLeftFloor ) );
162 }
163
164
test_geo_alignedbox()165 void test_geo_alignedbox()
166 {
167 for(int i = 0; i < g_repeat; i++)
168 {
169 CALL_SUBTEST_1( alignedbox(AlignedBox2f()) );
170 CALL_SUBTEST_2( alignedboxCastTests(AlignedBox2f()) );
171
172 CALL_SUBTEST_3( alignedbox(AlignedBox3f()) );
173 CALL_SUBTEST_4( alignedboxCastTests(AlignedBox3f()) );
174
175 CALL_SUBTEST_5( alignedbox(AlignedBox4d()) );
176 CALL_SUBTEST_6( alignedboxCastTests(AlignedBox4d()) );
177
178 CALL_SUBTEST_7( alignedbox(AlignedBox1d()) );
179 CALL_SUBTEST_8( alignedboxCastTests(AlignedBox1d()) );
180
181 CALL_SUBTEST_9( alignedbox(AlignedBox1i()) );
182 CALL_SUBTEST_10( alignedbox(AlignedBox2i()) );
183 CALL_SUBTEST_11( alignedbox(AlignedBox3i()) );
184
185 CALL_SUBTEST_14( alignedbox(AlignedBox<double,Dynamic>(4)) );
186 }
187 CALL_SUBTEST_12( specificTest1() );
188 CALL_SUBTEST_13( specificTest2() );
189 }
190