1c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// This file is part of Eigen, a lightweight C++ template library 2c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// for linear algebra. 3c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// 4c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com> 5c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// 6c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// This Source Code Form is subject to the terms of the Mozilla 7c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// Public License v. 2.0. If a copy of the MPL was not distributed 8c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath// with this file, You can obtain one at http://mozilla.org/MPL/2.0/. 9c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 10c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#include "main.h" 11c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#include <Eigen/LU> 12c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath#include <algorithm> 13c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 14c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename MatrixType> void inverse_permutation_4x4() 15c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 16c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef typename MatrixType::Scalar Scalar; 17c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath Vector4i indices(0,1,2,3); 18c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath for(int i = 0; i < 24; ++i) 19c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 20c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath MatrixType m = PermutationMatrix<4>(indices); 21c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath MatrixType inv = m.inverse(); 22c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath double error = double( (m*inv-MatrixType::Identity()).norm() / NumTraits<Scalar>::epsilon() ); 23c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath EIGEN_DEBUG_VAR(error) 24c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY(error == 0.0); 25c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath std::next_permutation(indices.data(),indices.data()+4); 26c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 27c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 28c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 29c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathtemplate<typename MatrixType> void inverse_general_4x4(int repeat) 30c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 317faaa9f3f0df9d23790277834d426c3d992ac3baCarlos Hernandez using std::abs; 32c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef typename MatrixType::Scalar Scalar; 33c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath typedef typename MatrixType::RealScalar RealScalar; 34c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath double error_sum = 0., error_max = 0.; 35c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath for(int i = 0; i < repeat; ++i) 36c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath { 37c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath MatrixType m; 38c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath RealScalar absdet; 39c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath do { 40c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath m = MatrixType::Random(); 417faaa9f3f0df9d23790277834d426c3d992ac3baCarlos Hernandez absdet = abs(m.determinant()); 42c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } while(absdet < NumTraits<Scalar>::epsilon()); 43c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath MatrixType inv = m.inverse(); 44c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath double error = double( (m*inv-MatrixType::Identity()).norm() * absdet / NumTraits<Scalar>::epsilon() ); 45c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath error_sum += error; 46c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath error_max = (std::max)(error_max, error); 47c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath } 48c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath std::cerr << "inverse_general_4x4, Scalar = " << type_name<Scalar>() << std::endl; 49c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath double error_avg = error_sum / repeat; 50c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath EIGEN_DEBUG_VAR(error_avg); 51c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath EIGEN_DEBUG_VAR(error_max); 52c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // FIXME that 1.25 used to be a 1.0 until the NumTraits changes on 28 April 2010, what's going wrong?? 53c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath // FIXME that 1.25 used to be 1.2 until we tested gcc 4.1 on 30 June 2010 and got 1.21. 54c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY(error_avg < (NumTraits<Scalar>::IsComplex ? 8.0 : 1.25)); 55c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath VERIFY(error_max < (NumTraits<Scalar>::IsComplex ? 64.0 : 20.0)); 56c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 57c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 58c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamathvoid test_prec_inverse_4x4() 59c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath{ 60c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath CALL_SUBTEST_1((inverse_permutation_4x4<Matrix4f>())); 61c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath CALL_SUBTEST_1(( inverse_general_4x4<Matrix4f>(200000 * g_repeat) )); 62c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 63c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath CALL_SUBTEST_2((inverse_permutation_4x4<Matrix<double,4,4,RowMajor> >())); 64c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath CALL_SUBTEST_2(( inverse_general_4x4<Matrix<double,4,4,RowMajor> >(200000 * g_repeat) )); 65c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath 66c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath CALL_SUBTEST_3((inverse_permutation_4x4<Matrix4cf>())); 67c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath CALL_SUBTEST_3((inverse_general_4x4<Matrix4cf>(50000 * g_repeat))); 68c981c48f5bc9aefeffc0bcb0cc3934c2fae179ddNarayan Kamath} 69