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realtimeroboticsgroup.org / RealtimeRoboticsGroup / aos / 72890c2da170577883e6431bd92d612716a31b85 / . / test / stddeque.cpp
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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.
3//
4// Copyright (C) 2008 Benoit Jacob <jacob.benoit.1@gmail.com>
5// Copyright (C) 2010 Hauke Heibel <hauke.heibel@gmail.com>
6//
7// This Source Code Form is subject to the terms of the Mozilla
8// Public License v. 2.0. If a copy of the MPL was not distributed
9// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
10
11#include "main.h"
12#include <Eigen/StdDeque>
13#include <Eigen/Geometry>
14
15template<typename MatrixType>
16void check_stddeque_matrix(const MatrixType& m)
17{
18 typedef typename MatrixType::Index Index;
19
20 Index rows = m.rows();
21 Index cols = m.cols();
22 MatrixType x = MatrixType::Random(rows,cols), y = MatrixType::Random(rows,cols);
23 std::deque<MatrixType,Eigen::aligned_allocator<MatrixType> > v(10, MatrixType(rows,cols)), w(20, y);
24 v.front() = x;
25 w.front() = w.back();
26 VERIFY_IS_APPROX(w.front(), w.back());
27 v = w;
28
29 typename std::deque<MatrixType,Eigen::aligned_allocator<MatrixType> >::iterator vi = v.begin();
30 typename std::deque<MatrixType,Eigen::aligned_allocator<MatrixType> >::iterator wi = w.begin();
31 for(int i = 0; i < 20; i++)
32 {
33 VERIFY_IS_APPROX(*vi, *wi);
34 ++vi;
35 ++wi;
36 }
37
38 v.resize(21);
39 v.back() = x;
40 VERIFY_IS_APPROX(v.back(), x);
41 v.resize(22,y);
42 VERIFY_IS_APPROX(v.back(), y);
43 v.push_back(x);
44 VERIFY_IS_APPROX(v.back(), x);
45}
46
47template<typename TransformType>
48void check_stddeque_transform(const TransformType&)
49{
50 typedef typename TransformType::MatrixType MatrixType;
51 TransformType x(MatrixType::Random()), y(MatrixType::Random());
52 std::deque<TransformType,Eigen::aligned_allocator<TransformType> > v(10), w(20, y);
53 v.front() = x;
54 w.front() = w.back();
55 VERIFY_IS_APPROX(w.front(), w.back());
56 v = w;
57
58 typename std::deque<TransformType,Eigen::aligned_allocator<TransformType> >::iterator vi = v.begin();
59 typename std::deque<TransformType,Eigen::aligned_allocator<TransformType> >::iterator wi = w.begin();
60 for(int i = 0; i < 20; i++)
61 {
62 VERIFY_IS_APPROX(*vi, *wi);
63 ++vi;
64 ++wi;
65 }
66
67 v.resize(21);
68 v.back() = x;
69 VERIFY_IS_APPROX(v.back(), x);
70 v.resize(22,y);
71 VERIFY_IS_APPROX(v.back(), y);
72 v.push_back(x);
73 VERIFY_IS_APPROX(v.back(), x);
74}
75
76template<typename QuaternionType>
77void check_stddeque_quaternion(const QuaternionType&)
78{
79 typedef typename QuaternionType::Coefficients Coefficients;
80 QuaternionType x(Coefficients::Random()), y(Coefficients::Random());
81 std::deque<QuaternionType,Eigen::aligned_allocator<QuaternionType> > v(10), w(20, y);
82 v.front() = x;
83 w.front() = w.back();
84 VERIFY_IS_APPROX(w.front(), w.back());
85 v = w;
86
87 typename std::deque<QuaternionType,Eigen::aligned_allocator<QuaternionType> >::iterator vi = v.begin();
88 typename std::deque<QuaternionType,Eigen::aligned_allocator<QuaternionType> >::iterator wi = w.begin();
89 for(int i = 0; i < 20; i++)
90 {
91 VERIFY_IS_APPROX(*vi, *wi);
92 ++vi;
93 ++wi;
94 }
95
96 v.resize(21);
97 v.back() = x;
98 VERIFY_IS_APPROX(v.back(), x);
99 v.resize(22,y);
100 VERIFY_IS_APPROX(v.back(), y);
101 v.push_back(x);
102 VERIFY_IS_APPROX(v.back(), x);
103}
104
105void test_stddeque()
106{
107 // some non vectorizable fixed sizes
108 CALL_SUBTEST_1(check_stddeque_matrix(Vector2f()));
109 CALL_SUBTEST_1(check_stddeque_matrix(Matrix3f()));
110 CALL_SUBTEST_2(check_stddeque_matrix(Matrix3d()));
111
112 // some vectorizable fixed sizes
113 CALL_SUBTEST_1(check_stddeque_matrix(Matrix2f()));
114 CALL_SUBTEST_1(check_stddeque_matrix(Vector4f()));
115 CALL_SUBTEST_1(check_stddeque_matrix(Matrix4f()));
116 CALL_SUBTEST_2(check_stddeque_matrix(Matrix4d()));
117
118 // some dynamic sizes
119 CALL_SUBTEST_3(check_stddeque_matrix(MatrixXd(1,1)));
120 CALL_SUBTEST_3(check_stddeque_matrix(VectorXd(20)));
121 CALL_SUBTEST_3(check_stddeque_matrix(RowVectorXf(20)));
122 CALL_SUBTEST_3(check_stddeque_matrix(MatrixXcf(10,10)));
123
124 // some Transform
125 CALL_SUBTEST_4(check_stddeque_transform(Affine2f()));
126 CALL_SUBTEST_4(check_stddeque_transform(Affine3f()));
127 CALL_SUBTEST_4(check_stddeque_transform(Affine3d()));
128
129 // some Quaternion
130 CALL_SUBTEST_5(check_stddeque_quaternion(Quaternionf()));
131 CALL_SUBTEST_5(check_stddeque_quaternion(Quaterniond()));
132}