1 // This file is part of Eigen, a lightweight C++ template library
2 // for linear algebra.
3 //
4 // Copyright (C) 2009 Gael Guennebaud <g.gael@free.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 <unsupported/Eigen/AlignedVector3>
12
13 namespace Eigen {
14
15 template<typename T,typename Derived>
16 T test_relative_error(const AlignedVector3<T> &a, const MatrixBase<Derived> &b)
17 {
18 return test_relative_error(a.coeffs().template head<3>(), b);
19 }
20
21 }
22
23 template<typename Scalar>
alignedvector3()24 void alignedvector3()
25 {
26 Scalar s1 = internal::random<Scalar>();
27 Scalar s2 = internal::random<Scalar>();
28 typedef Matrix<Scalar,3,1> RefType;
29 typedef Matrix<Scalar,3,3> Mat33;
30 typedef AlignedVector3<Scalar> FastType;
31 RefType r1(RefType::Random()), r2(RefType::Random()), r3(RefType::Random()),
32 r4(RefType::Random()), r5(RefType::Random());
33 FastType f1(r1), f2(r2), f3(r3), f4(r4), f5(r5);
34 Mat33 m1(Mat33::Random());
35
36 VERIFY_IS_APPROX(f1,r1);
37 VERIFY_IS_APPROX(f4,r4);
38
39 VERIFY_IS_APPROX(f4+f1,r4+r1);
40 VERIFY_IS_APPROX(f4-f1,r4-r1);
41 VERIFY_IS_APPROX(f4+f1-f2,r4+r1-r2);
42 VERIFY_IS_APPROX(f4+=f3,r4+=r3);
43 VERIFY_IS_APPROX(f4-=f5,r4-=r5);
44 VERIFY_IS_APPROX(f4-=f5+f1,r4-=r5+r1);
45 VERIFY_IS_APPROX(f5+f1-s1*f2,r5+r1-s1*r2);
46 VERIFY_IS_APPROX(f5+f1/s2-s1*f2,r5+r1/s2-s1*r2);
47
48 VERIFY_IS_APPROX(m1*f4,m1*r4);
49 VERIFY_IS_APPROX(f4.transpose()*m1,r4.transpose()*m1);
50
51 VERIFY_IS_APPROX(f2.dot(f3),r2.dot(r3));
52 VERIFY_IS_APPROX(f2.cross(f3),r2.cross(r3));
53 VERIFY_IS_APPROX(f2.norm(),r2.norm());
54
55 VERIFY_IS_APPROX(f2.normalized(),r2.normalized());
56
57 VERIFY_IS_APPROX((f2+f1).normalized(),(r2+r1).normalized());
58
59 f2.normalize();
60 r2.normalize();
61 VERIFY_IS_APPROX(f2,r2);
62
63 {
64 FastType f6 = RefType::Zero();
65 FastType f7 = FastType::Zero();
66 VERIFY_IS_APPROX(f6,f7);
67 f6 = r4+r1;
68 VERIFY_IS_APPROX(f6,r4+r1);
69 f6 -= Scalar(2)*r4;
70 VERIFY_IS_APPROX(f6,r1-r4);
71 }
72
73 std::stringstream ss1, ss2;
74 ss1 << f1;
75 ss2 << r1;
76 VERIFY(ss1.str()==ss2.str());
77 }
78
test_alignedvector3()79 void test_alignedvector3()
80 {
81 for(int i = 0; i < g_repeat; i++) {
82 CALL_SUBTEST( alignedvector3<float>() );
83 }
84 }
85