1// This file is part of Eigen, a lightweight C++ template library
2// for linear algebra.
3//
4// Copyright (C) 2009 Gael Guennebaud <g.gael@free.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 <unsupported/Eigen/AlignedVector3>
12
13namespace Eigen {
14
15template<typename T,typename Derived>
16T test_relative_error(const AlignedVector3<T> &a, const MatrixBase<Derived> &b)
17{
18  return test_relative_error(a.coeffs().template head<3>(), b);
19}
20
21}
22
23template<typename Scalar>
24void alignedvector3()
25{
26  Scalar s1 = internal::random<Scalar>();
27  Scalar s2 = internal::random<Scalar>();
28  typedef Matrix<Scalar,3,1> RefType;
29  typedef Matrix<Scalar,3,3> Mat33;
30  typedef AlignedVector3<Scalar> FastType;
31  RefType  r1(RefType::Random()), r2(RefType::Random()), r3(RefType::Random()),
32           r4(RefType::Random()), r5(RefType::Random());
33  FastType f1(r1), f2(r2), f3(r3), f4(r4), f5(r5);
34  Mat33 m1(Mat33::Random());
35
36  VERIFY_IS_APPROX(f1,r1);
37  VERIFY_IS_APPROX(f4,r4);
38
39  VERIFY_IS_APPROX(f4+f1,r4+r1);
40  VERIFY_IS_APPROX(f4-f1,r4-r1);
41  VERIFY_IS_APPROX(f4+f1-f2,r4+r1-r2);
42  VERIFY_IS_APPROX(f4+=f3,r4+=r3);
43  VERIFY_IS_APPROX(f4-=f5,r4-=r5);
44  VERIFY_IS_APPROX(f4-=f5+f1,r4-=r5+r1);
45  VERIFY_IS_APPROX(f5+f1-s1*f2,r5+r1-s1*r2);
46  VERIFY_IS_APPROX(f5+f1/s2-s1*f2,r5+r1/s2-s1*r2);
47
48  VERIFY_IS_APPROX(m1*f4,m1*r4);
49  VERIFY_IS_APPROX(f4.transpose()*m1,r4.transpose()*m1);
50
51  VERIFY_IS_APPROX(f2.dot(f3),r2.dot(r3));
52  VERIFY_IS_APPROX(f2.cross(f3),r2.cross(r3));
53  VERIFY_IS_APPROX(f2.norm(),r2.norm());
54
55  VERIFY_IS_APPROX(f2.normalized(),r2.normalized());
56
57  VERIFY_IS_APPROX((f2+f1).normalized(),(r2+r1).normalized());
58
59  f2.normalize();
60  r2.normalize();
61  VERIFY_IS_APPROX(f2,r2);
62
63  {
64    FastType f6 = RefType::Zero();
65    FastType f7 = FastType::Zero();
66    VERIFY_IS_APPROX(f6,f7);
67    f6 = r4+r1;
68    VERIFY_IS_APPROX(f6,r4+r1);
69    f6 -= Scalar(2)*r4;
70    VERIFY_IS_APPROX(f6,r1-r4);
71  }
72
73  std::stringstream ss1, ss2;
74  ss1 << f1;
75  ss2 << r1;
76  VERIFY(ss1.str()==ss2.str());
77}
78
79void test_alignedvector3()
80{
81  for(int i = 0; i < g_repeat; i++) {
82    CALL_SUBTEST( alignedvector3<float>() );
83  }
84}
85