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 (at) 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> 16 using namespace std; 17 18 template<typename T> EIGEN_DONT_INLINE 19 void kill_extra_precision(T& x) { eigen_assert((void*)(&x) != (void*)0); } 20 21 22 template<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 VERIFY(b0.contains(b0.center())); 52 VERIFY_IS_APPROX(b0.center(),(p0+p1)/Scalar(2)); 53 54 (b2 = b0).extend(b1); 55 VERIFY(b2.contains(b0)); 56 VERIFY(b2.contains(b1)); 57 VERIFY_IS_APPROX(b2.clamp(b0), b0); 58 59 // intersection 60 BoxType box1(VectorType::Random(dim)); 61 box1.extend(VectorType::Random(dim)); 62 BoxType box2(VectorType::Random(dim)); 63 box2.extend(VectorType::Random(dim)); 64 65 VERIFY(box1.intersects(box2) == !box1.intersection(box2).isEmpty()); 66 67 // alignment -- make sure there is no memory alignment assertion 68 BoxType *bp0 = new BoxType(dim); 69 BoxType *bp1 = new BoxType(dim); 70 bp0->extend(*bp1); 71 delete bp0; 72 delete bp1; 73 74 // sampling 75 for( int i=0; i<10; ++i ) 76 { 77 VectorType r = b0.sample(); 78 VERIFY(b0.contains(r)); 79 } 80 81 } 82 83 84 85 template<typename BoxType> 86 void alignedboxCastTests(const BoxType& _box) 87 { 88 // casting 89 typedef typename BoxType::Index Index; 90 typedef typename BoxType::Scalar Scalar; 91 typedef Matrix<Scalar, BoxType::AmbientDimAtCompileTime, 1> VectorType; 92 93 const Index dim = _box.dim(); 94 95 VectorType p0 = VectorType::Random(dim); 96 VectorType p1 = VectorType::Random(dim); 97 98 BoxType b0(dim); 99 100 b0.extend(p0); 101 b0.extend(p1); 102 103 const int Dim = BoxType::AmbientDimAtCompileTime; 104 typedef typename GetDifferentType<Scalar>::type OtherScalar; 105 AlignedBox<OtherScalar,Dim> hp1f = b0.template cast<OtherScalar>(); 106 VERIFY_IS_APPROX(hp1f.template cast<Scalar>(),b0); 107 AlignedBox<Scalar,Dim> hp1d = b0.template cast<Scalar>(); 108 VERIFY_IS_APPROX(hp1d.template cast<Scalar>(),b0); 109 } 110 111 112 void specificTest1() 113 { 114 Vector2f m; m << -1.0f, -2.0f; 115 Vector2f M; M << 1.0f, 5.0f; 116 117 typedef AlignedBox2f BoxType; 118 BoxType box( m, M ); 119 120 Vector2f sides = M-m; 121 VERIFY_IS_APPROX(sides, box.sizes() ); 122 VERIFY_IS_APPROX(sides[1], box.sizes()[1] ); 123 VERIFY_IS_APPROX(sides[1], box.sizes().maxCoeff() ); 124 VERIFY_IS_APPROX(sides[0], box.sizes().minCoeff() ); 125 126 VERIFY_IS_APPROX( 14.0f, box.volume() ); 127 VERIFY_IS_APPROX( 53.0f, box.diagonal().squaredNorm() ); 128 VERIFY_IS_APPROX( std::sqrt( 53.0f ), box.diagonal().norm() ); 129 130 VERIFY_IS_APPROX( m, box.corner( BoxType::BottomLeft ) ); 131 VERIFY_IS_APPROX( M, box.corner( BoxType::TopRight ) ); 132 Vector2f bottomRight; bottomRight << M[0], m[1]; 133 Vector2f topLeft; topLeft << m[0], M[1]; 134 VERIFY_IS_APPROX( bottomRight, box.corner( BoxType::BottomRight ) ); 135 VERIFY_IS_APPROX( topLeft, box.corner( BoxType::TopLeft ) ); 136 } 137 138 139 void specificTest2() 140 { 141 Vector3i m; m << -1, -2, 0; 142 Vector3i M; M << 1, 5, 3; 143 144 typedef AlignedBox3i BoxType; 145 BoxType box( m, M ); 146 147 Vector3i sides = M-m; 148 VERIFY_IS_APPROX(sides, box.sizes() ); 149 VERIFY_IS_APPROX(sides[1], box.sizes()[1] ); 150 VERIFY_IS_APPROX(sides[1], box.sizes().maxCoeff() ); 151 VERIFY_IS_APPROX(sides[0], box.sizes().minCoeff() ); 152 153 VERIFY_IS_APPROX( 42, box.volume() ); 154 VERIFY_IS_APPROX( 62, box.diagonal().squaredNorm() ); 155 156 VERIFY_IS_APPROX( m, box.corner( BoxType::BottomLeftFloor ) ); 157 VERIFY_IS_APPROX( M, box.corner( BoxType::TopRightCeil ) ); 158 Vector3i bottomRightFloor; bottomRightFloor << M[0], m[1], m[2]; 159 Vector3i topLeftFloor; topLeftFloor << m[0], M[1], m[2]; 160 VERIFY_IS_APPROX( bottomRightFloor, box.corner( BoxType::BottomRightFloor ) ); 161 VERIFY_IS_APPROX( topLeftFloor, box.corner( BoxType::TopLeftFloor ) ); 162 } 163 164 165 void test_geo_alignedbox() 166 { 167 for(int i = 0; i < g_repeat; i++) 168 { 169 CALL_SUBTEST_1( alignedbox(AlignedBox2f()) ); 170 CALL_SUBTEST_2( alignedboxCastTests(AlignedBox2f()) ); 171 172 CALL_SUBTEST_3( alignedbox(AlignedBox3f()) ); 173 CALL_SUBTEST_4( alignedboxCastTests(AlignedBox3f()) ); 174 175 CALL_SUBTEST_5( alignedbox(AlignedBox4d()) ); 176 CALL_SUBTEST_6( alignedboxCastTests(AlignedBox4d()) ); 177 178 CALL_SUBTEST_7( alignedbox(AlignedBox1d()) ); 179 CALL_SUBTEST_8( alignedboxCastTests(AlignedBox1d()) ); 180 181 CALL_SUBTEST_9( alignedbox(AlignedBox1i()) ); 182 CALL_SUBTEST_10( alignedbox(AlignedBox2i()) ); 183 CALL_SUBTEST_11( alignedbox(AlignedBox3i()) ); 184 185 CALL_SUBTEST_14( alignedbox(AlignedBox<double,Dynamic>(4)) ); 186 } 187 CALL_SUBTEST_12( specificTest1() ); 188 CALL_SUBTEST_13( specificTest2() ); 189 } 190
