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> 16using namespace std; 17 18template<typename T> EIGEN_DONT_INLINE 19void kill_extra_precision(T& x) { eigen_assert(&x != 0); } 20 21 22template<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 52 (b2 = b0).extend(b1); 53 VERIFY(b2.contains(b0)); 54 VERIFY(b2.contains(b1)); 55 VERIFY_IS_APPROX(b2.clamp(b0), b0); 56 57 58 // alignment -- make sure there is no memory alignment assertion 59 BoxType *bp0 = new BoxType(dim); 60 BoxType *bp1 = new BoxType(dim); 61 bp0->extend(*bp1); 62 delete bp0; 63 delete bp1; 64 65 // sampling 66 for( int i=0; i<10; ++i ) 67 { 68 VectorType r = b0.sample(); 69 VERIFY(b0.contains(r)); 70 } 71 72} 73 74 75 76template<typename BoxType> 77void alignedboxCastTests(const BoxType& _box) 78{ 79 // casting 80 typedef typename BoxType::Index Index; 81 typedef typename BoxType::Scalar Scalar; 82 typedef Matrix<Scalar, BoxType::AmbientDimAtCompileTime, 1> VectorType; 83 84 const Index dim = _box.dim(); 85 86 VectorType p0 = VectorType::Random(dim); 87 VectorType p1 = VectorType::Random(dim); 88 89 BoxType b0(dim); 90 91 b0.extend(p0); 92 b0.extend(p1); 93 94 const int Dim = BoxType::AmbientDimAtCompileTime; 95 typedef typename GetDifferentType<Scalar>::type OtherScalar; 96 AlignedBox<OtherScalar,Dim> hp1f = b0.template cast<OtherScalar>(); 97 VERIFY_IS_APPROX(hp1f.template cast<Scalar>(),b0); 98 AlignedBox<Scalar,Dim> hp1d = b0.template cast<Scalar>(); 99 VERIFY_IS_APPROX(hp1d.template cast<Scalar>(),b0); 100} 101 102 103void specificTest1() 104{ 105 Vector2f m; m << -1.0f, -2.0f; 106 Vector2f M; M << 1.0f, 5.0f; 107 108 typedef AlignedBox2f BoxType; 109 BoxType box( m, M ); 110 111 Vector2f sides = M-m; 112 VERIFY_IS_APPROX(sides, box.sizes() ); 113 VERIFY_IS_APPROX(sides[1], box.sizes()[1] ); 114 VERIFY_IS_APPROX(sides[1], box.sizes().maxCoeff() ); 115 VERIFY_IS_APPROX(sides[0], box.sizes().minCoeff() ); 116 117 VERIFY_IS_APPROX( 14.0f, box.volume() ); 118 VERIFY_IS_APPROX( 53.0f, box.diagonal().squaredNorm() ); 119 VERIFY_IS_APPROX( std::sqrt( 53.0f ), box.diagonal().norm() ); 120 121 VERIFY_IS_APPROX( m, box.corner( BoxType::BottomLeft ) ); 122 VERIFY_IS_APPROX( M, box.corner( BoxType::TopRight ) ); 123 Vector2f bottomRight; bottomRight << M[0], m[1]; 124 Vector2f topLeft; topLeft << m[0], M[1]; 125 VERIFY_IS_APPROX( bottomRight, box.corner( BoxType::BottomRight ) ); 126 VERIFY_IS_APPROX( topLeft, box.corner( BoxType::TopLeft ) ); 127} 128 129 130void specificTest2() 131{ 132 Vector3i m; m << -1, -2, 0; 133 Vector3i M; M << 1, 5, 3; 134 135 typedef AlignedBox3i BoxType; 136 BoxType box( m, M ); 137 138 Vector3i sides = M-m; 139 VERIFY_IS_APPROX(sides, box.sizes() ); 140 VERIFY_IS_APPROX(sides[1], box.sizes()[1] ); 141 VERIFY_IS_APPROX(sides[1], box.sizes().maxCoeff() ); 142 VERIFY_IS_APPROX(sides[0], box.sizes().minCoeff() ); 143 144 VERIFY_IS_APPROX( 42, box.volume() ); 145 VERIFY_IS_APPROX( 62, box.diagonal().squaredNorm() ); 146 147 VERIFY_IS_APPROX( m, box.corner( BoxType::BottomLeftFloor ) ); 148 VERIFY_IS_APPROX( M, box.corner( BoxType::TopRightCeil ) ); 149 Vector3i bottomRightFloor; bottomRightFloor << M[0], m[1], m[2]; 150 Vector3i topLeftFloor; topLeftFloor << m[0], M[1], m[2]; 151 VERIFY_IS_APPROX( bottomRightFloor, box.corner( BoxType::BottomRightFloor ) ); 152 VERIFY_IS_APPROX( topLeftFloor, box.corner( BoxType::TopLeftFloor ) ); 153} 154 155 156void test_geo_alignedbox() 157{ 158 for(int i = 0; i < g_repeat; i++) 159 { 160 CALL_SUBTEST_1( alignedbox(AlignedBox2f()) ); 161 CALL_SUBTEST_2( alignedboxCastTests(AlignedBox2f()) ); 162 163 CALL_SUBTEST_3( alignedbox(AlignedBox3f()) ); 164 CALL_SUBTEST_4( alignedboxCastTests(AlignedBox3f()) ); 165 166 CALL_SUBTEST_5( alignedbox(AlignedBox4d()) ); 167 CALL_SUBTEST_6( alignedboxCastTests(AlignedBox4d()) ); 168 169 CALL_SUBTEST_7( alignedbox(AlignedBox1d()) ); 170 CALL_SUBTEST_8( alignedboxCastTests(AlignedBox1d()) ); 171 172 CALL_SUBTEST_9( alignedbox(AlignedBox1i()) ); 173 CALL_SUBTEST_10( alignedbox(AlignedBox2i()) ); 174 CALL_SUBTEST_11( alignedbox(AlignedBox3i()) ); 175 } 176 CALL_SUBTEST_12( specificTest1() ); 177 CALL_SUBTEST_13( specificTest2() ); 178} 179