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- // This file is part of Eigen, a lightweight C++ template library
- // for linear algebra.
- //
- // Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
- // Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
- //
- // This Source Code Form is subject to the terms of the Mozilla
- // Public License v. 2.0. If a copy of the MPL was not distributed
- // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
- #include "main.h"
- #include <Eigen/Geometry>
- #include <Eigen/LU>
- #include <Eigen/QR>
- template<typename LineType> void parametrizedline(const LineType& _line)
- {
- /* this test covers the following files:
- ParametrizedLine.h
- */
- using std::abs;
- const Index dim = _line.dim();
- typedef typename LineType::Scalar Scalar;
- typedef typename NumTraits<Scalar>::Real RealScalar;
- typedef Matrix<Scalar, LineType::AmbientDimAtCompileTime, 1> VectorType;
- typedef Hyperplane<Scalar,LineType::AmbientDimAtCompileTime> HyperplaneType;
- VectorType p0 = VectorType::Random(dim);
- VectorType p1 = VectorType::Random(dim);
- VectorType d0 = VectorType::Random(dim).normalized();
- LineType l0(p0, d0);
- Scalar s0 = internal::random<Scalar>();
- Scalar s1 = abs(internal::random<Scalar>());
- VERIFY_IS_MUCH_SMALLER_THAN( l0.distance(p0), RealScalar(1) );
- VERIFY_IS_MUCH_SMALLER_THAN( l0.distance(p0+s0*d0), RealScalar(1) );
- VERIFY_IS_APPROX( (l0.projection(p1)-p1).norm(), l0.distance(p1) );
- VERIFY_IS_MUCH_SMALLER_THAN( l0.distance(l0.projection(p1)), RealScalar(1) );
- VERIFY_IS_APPROX( Scalar(l0.distance((p0+s0*d0) + d0.unitOrthogonal() * s1)), s1 );
- // casting
- const int Dim = LineType::AmbientDimAtCompileTime;
- typedef typename GetDifferentType<Scalar>::type OtherScalar;
- ParametrizedLine<OtherScalar,Dim> hp1f = l0.template cast<OtherScalar>();
- VERIFY_IS_APPROX(hp1f.template cast<Scalar>(),l0);
- ParametrizedLine<Scalar,Dim> hp1d = l0.template cast<Scalar>();
- VERIFY_IS_APPROX(hp1d.template cast<Scalar>(),l0);
- // intersections
- VectorType p2 = VectorType::Random(dim);
- VectorType n2 = VectorType::Random(dim).normalized();
- HyperplaneType hp(p2,n2);
- Scalar t = l0.intersectionParameter(hp);
- VectorType pi = l0.pointAt(t);
- VERIFY_IS_MUCH_SMALLER_THAN(hp.signedDistance(pi), RealScalar(1));
- VERIFY_IS_MUCH_SMALLER_THAN(l0.distance(pi), RealScalar(1));
- VERIFY_IS_APPROX(l0.intersectionPoint(hp), pi);
- }
- template<typename Scalar> void parametrizedline_alignment()
- {
- typedef ParametrizedLine<Scalar,4,AutoAlign> Line4a;
- typedef ParametrizedLine<Scalar,4,DontAlign> Line4u;
- EIGEN_ALIGN_MAX Scalar array1[16];
- EIGEN_ALIGN_MAX Scalar array2[16];
- EIGEN_ALIGN_MAX Scalar array3[16+1];
- Scalar* array3u = array3+1;
- Line4a *p1 = ::new(reinterpret_cast<void*>(array1)) Line4a;
- Line4u *p2 = ::new(reinterpret_cast<void*>(array2)) Line4u;
- Line4u *p3 = ::new(reinterpret_cast<void*>(array3u)) Line4u;
-
- p1->origin().setRandom();
- p1->direction().setRandom();
- *p2 = *p1;
- *p3 = *p1;
- VERIFY_IS_APPROX(p1->origin(), p2->origin());
- VERIFY_IS_APPROX(p1->origin(), p3->origin());
- VERIFY_IS_APPROX(p1->direction(), p2->direction());
- VERIFY_IS_APPROX(p1->direction(), p3->direction());
-
- #if defined(EIGEN_VECTORIZE) && EIGEN_MAX_STATIC_ALIGN_BYTES>0
- if(internal::packet_traits<Scalar>::Vectorizable && internal::packet_traits<Scalar>::size<=4)
- VERIFY_RAISES_ASSERT((::new(reinterpret_cast<void*>(array3u)) Line4a));
- #endif
- }
- void test_geo_parametrizedline()
- {
- for(int i = 0; i < g_repeat; i++) {
- CALL_SUBTEST_1( parametrizedline(ParametrizedLine<float,2>()) );
- CALL_SUBTEST_2( parametrizedline(ParametrizedLine<float,3>()) );
- CALL_SUBTEST_2( parametrizedline_alignment<float>() );
- CALL_SUBTEST_3( parametrizedline(ParametrizedLine<double,4>()) );
- CALL_SUBTEST_3( parametrizedline_alignment<double>() );
- CALL_SUBTEST_4( parametrizedline(ParametrizedLine<std::complex<double>,5>()) );
- }
- }
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