1 // This file is part of Eigen, a lightweight C++ template library 2 // for linear algebra. 3 // 4 // Copyright (C) 2009 Benoit Jacob <jacob.benoit.1 (at) gmail.com> 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/LU> 12 #include <algorithm> 13 14 template<typename MatrixType> void inverse_permutation_4x4() 15 { 16 typedef typename MatrixType::Scalar Scalar; 17 Vector4i indices(0,1,2,3); 18 for(int i = 0; i < 24; ++i) 19 { 20 MatrixType m = PermutationMatrix<4>(indices); 21 MatrixType inv = m.inverse(); 22 double error = double( (m*inv-MatrixType::Identity()).norm() / NumTraits<Scalar>::epsilon() ); 23 EIGEN_DEBUG_VAR(error) 24 VERIFY(error == 0.0); 25 std::next_permutation(indices.data(),indices.data()+4); 26 } 27 } 28 29 template<typename MatrixType> void inverse_general_4x4(int repeat) 30 { 31 using std::abs; 32 typedef typename MatrixType::Scalar Scalar; 33 typedef typename MatrixType::RealScalar RealScalar; 34 double error_sum = 0., error_max = 0.; 35 for(int i = 0; i < repeat; ++i) 36 { 37 MatrixType m; 38 RealScalar absdet; 39 do { 40 m = MatrixType::Random(); 41 absdet = abs(m.determinant()); 42 } while(absdet < NumTraits<Scalar>::epsilon()); 43 MatrixType inv = m.inverse(); 44 double error = double( (m*inv-MatrixType::Identity()).norm() * absdet / NumTraits<Scalar>::epsilon() ); 45 error_sum += error; 46 error_max = (std::max)(error_max, error); 47 } 48 std::cerr << "inverse_general_4x4, Scalar = " << type_name<Scalar>() << std::endl; 49 double error_avg = error_sum / repeat; 50 EIGEN_DEBUG_VAR(error_avg); 51 EIGEN_DEBUG_VAR(error_max); 52 // FIXME that 1.25 used to be a 1.0 until the NumTraits changes on 28 April 2010, what's going wrong?? 53 // FIXME that 1.25 used to be 1.2 until we tested gcc 4.1 on 30 June 2010 and got 1.21. 54 VERIFY(error_avg < (NumTraits<Scalar>::IsComplex ? 8.0 : 1.25)); 55 VERIFY(error_max < (NumTraits<Scalar>::IsComplex ? 64.0 : 20.0)); 56 57 { 58 int s = 5;//internal::random<int>(4,10); 59 int i = 0;//internal::random<int>(0,s-4); 60 int j = 0;//internal::random<int>(0,s-4); 61 Matrix<Scalar,5,5> mat(s,s); 62 mat.setRandom(); 63 MatrixType submat = mat.template block<4,4>(i,j); 64 MatrixType mat_inv = mat.template block<4,4>(i,j).inverse(); 65 VERIFY_IS_APPROX(mat_inv, submat.inverse()); 66 mat.template block<4,4>(i,j) = submat.inverse(); 67 VERIFY_IS_APPROX(mat_inv, (mat.template block<4,4>(i,j))); 68 } 69 } 70 71 void test_prec_inverse_4x4() 72 { 73 CALL_SUBTEST_1((inverse_permutation_4x4<Matrix4f>())); 74 CALL_SUBTEST_1(( inverse_general_4x4<Matrix4f>(200000 * g_repeat) )); 75 CALL_SUBTEST_1(( inverse_general_4x4<Matrix<float,4,4,RowMajor> >(200000 * g_repeat) )); 76 77 CALL_SUBTEST_2((inverse_permutation_4x4<Matrix<double,4,4,RowMajor> >())); 78 CALL_SUBTEST_2(( inverse_general_4x4<Matrix<double,4,4,ColMajor> >(200000 * g_repeat) )); 79 CALL_SUBTEST_2(( inverse_general_4x4<Matrix<double,4,4,RowMajor> >(200000 * g_repeat) )); 80 81 CALL_SUBTEST_3((inverse_permutation_4x4<Matrix4cf>())); 82 CALL_SUBTEST_3((inverse_general_4x4<Matrix4cf>(50000 * g_repeat))); 83 } 84
