Squashed 'third_party/eigen/' content from commit 61d72f6
Change-Id: Iccc90fa0b55ab44037f018046d2fcffd90d9d025
git-subtree-dir: third_party/eigen
git-subtree-split: 61d72f6383cfa842868c53e30e087b0258177257
diff --git a/test/geo_alignedbox.cpp b/test/geo_alignedbox.cpp
new file mode 100644
index 0000000..8e36adb
--- /dev/null
+++ b/test/geo_alignedbox.cpp
@@ -0,0 +1,178 @@
+// This file is part of Eigen, a lightweight C++ template library
+// for linear algebra.
+//
+// Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr>
+//
+// This Source Code Form is subject to the terms of the Mozilla
+// Public License v. 2.0. If a copy of the MPL was not distributed
+// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
+
+#include "main.h"
+#include <Eigen/Geometry>
+#include <Eigen/LU>
+#include <Eigen/QR>
+
+#include<iostream>
+using namespace std;
+
+template<typename T> EIGEN_DONT_INLINE
+void kill_extra_precision(T& x) { eigen_assert(&x != 0); }
+
+
+template<typename BoxType> void alignedbox(const BoxType& _box)
+{
+ /* this test covers the following files:
+ AlignedBox.h
+ */
+ typedef typename BoxType::Index Index;
+ typedef typename BoxType::Scalar Scalar;
+ typedef typename NumTraits<Scalar>::Real RealScalar;
+ typedef Matrix<Scalar, BoxType::AmbientDimAtCompileTime, 1> VectorType;
+
+ const Index dim = _box.dim();
+
+ VectorType p0 = VectorType::Random(dim);
+ VectorType p1 = VectorType::Random(dim);
+ while( p1 == p0 ){
+ p1 = VectorType::Random(dim); }
+ RealScalar s1 = internal::random<RealScalar>(0,1);
+
+ BoxType b0(dim);
+ BoxType b1(VectorType::Random(dim),VectorType::Random(dim));
+ BoxType b2;
+
+ kill_extra_precision(b1);
+ kill_extra_precision(p0);
+ kill_extra_precision(p1);
+
+ b0.extend(p0);
+ b0.extend(p1);
+ VERIFY(b0.contains(p0*s1+(Scalar(1)-s1)*p1));
+
+ (b2 = b0).extend(b1);
+ VERIFY(b2.contains(b0));
+ VERIFY(b2.contains(b1));
+ VERIFY_IS_APPROX(b2.clamp(b0), b0);
+
+
+ // alignment -- make sure there is no memory alignment assertion
+ BoxType *bp0 = new BoxType(dim);
+ BoxType *bp1 = new BoxType(dim);
+ bp0->extend(*bp1);
+ delete bp0;
+ delete bp1;
+
+ // sampling
+ for( int i=0; i<10; ++i )
+ {
+ VectorType r = b0.sample();
+ VERIFY(b0.contains(r));
+ }
+
+}
+
+
+
+template<typename BoxType>
+void alignedboxCastTests(const BoxType& _box)
+{
+ // casting
+ typedef typename BoxType::Index Index;
+ typedef typename BoxType::Scalar Scalar;
+ typedef Matrix<Scalar, BoxType::AmbientDimAtCompileTime, 1> VectorType;
+
+ const Index dim = _box.dim();
+
+ VectorType p0 = VectorType::Random(dim);
+ VectorType p1 = VectorType::Random(dim);
+
+ BoxType b0(dim);
+
+ b0.extend(p0);
+ b0.extend(p1);
+
+ const int Dim = BoxType::AmbientDimAtCompileTime;
+ typedef typename GetDifferentType<Scalar>::type OtherScalar;
+ AlignedBox<OtherScalar,Dim> hp1f = b0.template cast<OtherScalar>();
+ VERIFY_IS_APPROX(hp1f.template cast<Scalar>(),b0);
+ AlignedBox<Scalar,Dim> hp1d = b0.template cast<Scalar>();
+ VERIFY_IS_APPROX(hp1d.template cast<Scalar>(),b0);
+}
+
+
+void specificTest1()
+{
+ Vector2f m; m << -1.0f, -2.0f;
+ Vector2f M; M << 1.0f, 5.0f;
+
+ typedef AlignedBox2f BoxType;
+ BoxType box( m, M );
+
+ Vector2f sides = M-m;
+ VERIFY_IS_APPROX(sides, box.sizes() );
+ VERIFY_IS_APPROX(sides[1], box.sizes()[1] );
+ VERIFY_IS_APPROX(sides[1], box.sizes().maxCoeff() );
+ VERIFY_IS_APPROX(sides[0], box.sizes().minCoeff() );
+
+ VERIFY_IS_APPROX( 14.0f, box.volume() );
+ VERIFY_IS_APPROX( 53.0f, box.diagonal().squaredNorm() );
+ VERIFY_IS_APPROX( std::sqrt( 53.0f ), box.diagonal().norm() );
+
+ VERIFY_IS_APPROX( m, box.corner( BoxType::BottomLeft ) );
+ VERIFY_IS_APPROX( M, box.corner( BoxType::TopRight ) );
+ Vector2f bottomRight; bottomRight << M[0], m[1];
+ Vector2f topLeft; topLeft << m[0], M[1];
+ VERIFY_IS_APPROX( bottomRight, box.corner( BoxType::BottomRight ) );
+ VERIFY_IS_APPROX( topLeft, box.corner( BoxType::TopLeft ) );
+}
+
+
+void specificTest2()
+{
+ Vector3i m; m << -1, -2, 0;
+ Vector3i M; M << 1, 5, 3;
+
+ typedef AlignedBox3i BoxType;
+ BoxType box( m, M );
+
+ Vector3i sides = M-m;
+ VERIFY_IS_APPROX(sides, box.sizes() );
+ VERIFY_IS_APPROX(sides[1], box.sizes()[1] );
+ VERIFY_IS_APPROX(sides[1], box.sizes().maxCoeff() );
+ VERIFY_IS_APPROX(sides[0], box.sizes().minCoeff() );
+
+ VERIFY_IS_APPROX( 42, box.volume() );
+ VERIFY_IS_APPROX( 62, box.diagonal().squaredNorm() );
+
+ VERIFY_IS_APPROX( m, box.corner( BoxType::BottomLeftFloor ) );
+ VERIFY_IS_APPROX( M, box.corner( BoxType::TopRightCeil ) );
+ Vector3i bottomRightFloor; bottomRightFloor << M[0], m[1], m[2];
+ Vector3i topLeftFloor; topLeftFloor << m[0], M[1], m[2];
+ VERIFY_IS_APPROX( bottomRightFloor, box.corner( BoxType::BottomRightFloor ) );
+ VERIFY_IS_APPROX( topLeftFloor, box.corner( BoxType::TopLeftFloor ) );
+}
+
+
+void test_geo_alignedbox()
+{
+ for(int i = 0; i < g_repeat; i++)
+ {
+ CALL_SUBTEST_1( alignedbox(AlignedBox2f()) );
+ CALL_SUBTEST_2( alignedboxCastTests(AlignedBox2f()) );
+
+ CALL_SUBTEST_3( alignedbox(AlignedBox3f()) );
+ CALL_SUBTEST_4( alignedboxCastTests(AlignedBox3f()) );
+
+ CALL_SUBTEST_5( alignedbox(AlignedBox4d()) );
+ CALL_SUBTEST_6( alignedboxCastTests(AlignedBox4d()) );
+
+ CALL_SUBTEST_7( alignedbox(AlignedBox1d()) );
+ CALL_SUBTEST_8( alignedboxCastTests(AlignedBox1d()) );
+
+ CALL_SUBTEST_9( alignedbox(AlignedBox1i()) );
+ CALL_SUBTEST_10( alignedbox(AlignedBox2i()) );
+ CALL_SUBTEST_11( alignedbox(AlignedBox3i()) );
+ }
+ CALL_SUBTEST_12( specificTest1() );
+ CALL_SUBTEST_13( specificTest2() );
+}