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