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
16template<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
65template<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
95void 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