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realtimeroboticsgroup.org / RealtimeRoboticsGroup / aos / 72890c2da170577883e6431bd92d612716a31b85 / . / test / eigen2 / eigen2_map.cpp
blob: 4a1c4e11ade203bc1bd649ddce8466fa03877cb8 [file] [log] [blame]
Brian Silverman72890c22015-09-19 14:37:37 -0400[diff] [blame^]1// This file is part of Eigen, a lightweight C++ template library
2// for linear algebra. Eigen itself is part of the KDE project.
3//
4// Copyright (C) 2007-2010 Benoit Jacob <jacob.benoit.1@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
12template<typename VectorType> void map_class_vector(const VectorType& m)
13{
14 typedef typename VectorType::Scalar Scalar;
15
16 int size = m.size();
17
18 // test Map.h
19 Scalar* array1 = ei_aligned_new<Scalar>(size);
20 Scalar* array2 = ei_aligned_new<Scalar>(size);
21 Scalar* array3 = new Scalar[size+1];
22 Scalar* array3unaligned = std::size_t(array3)%16 == 0 ? array3+1 : array3;
23
24 Map<VectorType, Aligned>(array1, size) = VectorType::Random(size);
25 Map<VectorType>(array2, size) = Map<VectorType>(array1, size);
26 Map<VectorType>(array3unaligned, size) = Map<VectorType>((const Scalar*)array1, size); // test non-const-correctness support in eigen2
27 VectorType ma1 = Map<VectorType>(array1, size);
28 VectorType ma2 = Map<VectorType, Aligned>(array2, size);
29 VectorType ma3 = Map<VectorType>(array3unaligned, size);
30 VERIFY_IS_APPROX(ma1, ma2);
31 VERIFY_IS_APPROX(ma1, ma3);
32
33 ei_aligned_delete(array1, size);
34 ei_aligned_delete(array2, size);
35 delete[] array3;
36}
37
38template<typename MatrixType> void map_class_matrix(const MatrixType& m)
39{
40 typedef typename MatrixType::Scalar Scalar;
41
42 int rows = m.rows(), cols = m.cols(), size = rows*cols;
43
44 // test Map.h
45 Scalar* array1 = ei_aligned_new<Scalar>(size);
46 for(int i = 0; i < size; i++) array1[i] = Scalar(1);
47 Scalar* array2 = ei_aligned_new<Scalar>(size);
48 for(int i = 0; i < size; i++) array2[i] = Scalar(1);
49 Scalar* array3 = new Scalar[size+1];
50 for(int i = 0; i < size+1; i++) array3[i] = Scalar(1);
51 Scalar* array3unaligned = std::size_t(array3)%16 == 0 ? array3+1 : array3;
52 Map<MatrixType, Aligned>(array1, rows, cols) = MatrixType::Ones(rows,cols);
53 Map<MatrixType>(array2, rows, cols) = Map<MatrixType>((const Scalar*)array1, rows, cols); // test non-const-correctness support in eigen2
54 Map<MatrixType>(array3unaligned, rows, cols) = Map<MatrixType>(array1, rows, cols);
55 MatrixType ma1 = Map<MatrixType>(array1, rows, cols);
56 MatrixType ma2 = Map<MatrixType, Aligned>(array2, rows, cols);
57 VERIFY_IS_APPROX(ma1, ma2);
58 MatrixType ma3 = Map<MatrixType>(array3unaligned, rows, cols);
59 VERIFY_IS_APPROX(ma1, ma3);
60
61 ei_aligned_delete(array1, size);
62 ei_aligned_delete(array2, size);
63 delete[] array3;
64}
65
66template<typename VectorType> void map_static_methods(const VectorType& m)
67{
68 typedef typename VectorType::Scalar Scalar;
69
70 int size = m.size();
71
72 // test Map.h
73 Scalar* array1 = ei_aligned_new<Scalar>(size);
74 Scalar* array2 = ei_aligned_new<Scalar>(size);
75 Scalar* array3 = new Scalar[size+1];
76 Scalar* array3unaligned = std::size_t(array3)%16 == 0 ? array3+1 : array3;
77
78 VectorType::MapAligned(array1, size) = VectorType::Random(size);
79 VectorType::Map(array2, size) = VectorType::Map(array1, size);
80 VectorType::Map(array3unaligned, size) = VectorType::Map(array1, size);
81 VectorType ma1 = VectorType::Map(array1, size);
82 VectorType ma2 = VectorType::MapAligned(array2, size);
83 VectorType ma3 = VectorType::Map(array3unaligned, size);
84 VERIFY_IS_APPROX(ma1, ma2);
85 VERIFY_IS_APPROX(ma1, ma3);
86
87 ei_aligned_delete(array1, size);
88 ei_aligned_delete(array2, size);
89 delete[] array3;
90}
91
92
93void test_eigen2_map()
94{
95 for(int i = 0; i < g_repeat; i++) {
96 CALL_SUBTEST_1( map_class_vector(Matrix<float, 1, 1>()) );
97 CALL_SUBTEST_2( map_class_vector(Vector4d()) );
98 CALL_SUBTEST_3( map_class_vector(RowVector4f()) );
99 CALL_SUBTEST_4( map_class_vector(VectorXcf(8)) );
100 CALL_SUBTEST_5( map_class_vector(VectorXi(12)) );
101
102 CALL_SUBTEST_1( map_class_matrix(Matrix<float, 1, 1>()) );
103 CALL_SUBTEST_2( map_class_matrix(Matrix4d()) );
104 CALL_SUBTEST_6( map_class_matrix(Matrix<float,3,5>()) );
105 CALL_SUBTEST_4( map_class_matrix(MatrixXcf(ei_random<int>(1,10),ei_random<int>(1,10))) );
106 CALL_SUBTEST_5( map_class_matrix(MatrixXi(ei_random<int>(1,10),ei_random<int>(1,10))) );
107
108 CALL_SUBTEST_1( map_static_methods(Matrix<double, 1, 1>()) );
109 CALL_SUBTEST_2( map_static_methods(Vector3f()) );
110 CALL_SUBTEST_7( map_static_methods(RowVector3d()) );
111 CALL_SUBTEST_4( map_static_methods(VectorXcd(8)) );
112 CALL_SUBTEST_5( map_static_methods(VectorXf(12)) );
113 }
114}