GitHub-Proxy/eigen
1
0
Fork 0
mirror of https://gitlab.com/libeigen/eigen.git synced 2025-04-21 17:19:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

Matrix product refactoring (rhs products only).

Browse Source 
Added strong inlines required for MSVC for proper inlining.
Added specializations for DiagonalMatrix products to RotationBase.
Added left- and righ-hand-side products with DiagonalMatrix to Transform.
RHS Transform products now return Matrix objects only.
Split the geo_transformations unit test. Some tests were not made for projectivities.
Removed unused variables from main.h that caused warnings.
This commit is contained in:
Hauke Heibel 2010-08-19 19:25:35 +02:00
parent d4b664c4cd
commit 55c7848877
7 changed files with 193 additions and 182 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
Eigen/src/Core/VectorwiseOp.h
View File

@ -440,7 +440,7 @@ template<typename ExpressionType, int Direction> class VectorwiseOp
}
/** Returns the expression of the sum of the vector \a other to each subvector of \c *this */
template<typename OtherDerived>
template<typename OtherDerived> EIGEN_STRONG_INLINE
CwiseBinaryOp<ei_scalar_sum_op<Scalar>,
ExpressionType,
typename ExtendedType<OtherDerived>::Type>

2
Eigen/src/Core/products/CoeffBasedProduct.h
View File

@ -199,7 +199,7 @@ class CoeffBasedProduct
}
// Implicit conversion to the nested type (trigger the evaluation of the product)
operator const PlainObject& () const
EIGEN_STRONG_INLINE operator const PlainObject& () const
{
m_result.lazyAssign(*this);
return m_result;

2
Eigen/src/Core/util/Macros.h
View File

@ -362,7 +362,7 @@
#define EIGEN_MAKE_CWISE_BINARY_OP(METHOD,FUNCTOR) \
template<typename OtherDerived> \
inline const CwiseBinaryOp<FUNCTOR<Scalar>, Derived, OtherDerived> \
EIGEN_STRONG_INLINE const CwiseBinaryOp<FUNCTOR<Scalar>, Derived, OtherDerived> \
METHOD(const EIGEN_CURRENT_STORAGE_BASE_CLASS<OtherDerived> &other) const \
{ \
return CwiseBinaryOp<FUNCTOR<Scalar>, Derived, OtherDerived>(derived(), other.derived()); \

24
Eigen/src/Geometry/RotationBase.h
View File

@ -56,8 +56,8 @@ class RotationBase
inline RotationMatrixType toRotationMatrix() const { return derived().toRotationMatrix(); }
/** \returns an equivalent rotation matrix
* This function is added to be conform with the Transform class' naming scheme.
*/
* This function is added to be conform with the Transform class' naming scheme.
*/
inline RotationMatrixType matrix() const { return derived().toRotationMatrix(); }
/** \returns the inverse rotation */
@ -87,6 +87,14 @@ class RotationBase
inline RotationMatrixType operator*(const EigenBase<OtherDerived>& l, const Derived& r)
{ return l.derived() * r.toRotationMatrix(); }
/** \returns the concatenation of a scaling \a l with the rotation \a r */
friend inline Transform<Scalar,Dim,Affine> operator*(const DiagonalMatrix<Scalar,Dim>& l, const Derived& r)
{
Transform<Scalar,Dim,Affine> res(r);
res.linear().applyOnTheLeft(l);
return res;
}
/** \returns the concatenation of the rotation \c *this with a transformation \a t */
template<int Mode>
inline Transform<Scalar,Dim,Mode> operator*(const Transform<Scalar,Dim,Mode>& t) const
@ -107,6 +115,18 @@ struct ei_rotation_base_generic_product_selector<RotationDerived,MatrixType,fals
{ return r.toRotationMatrix() * m; }
};
template<typename RotationDerived, typename Scalar, int Dim, int MaxDim>
struct ei_rotation_base_generic_product_selector< RotationDerived, DiagonalMatrix<Scalar,Dim,MaxDim>, false >
{
typedef Transform<Scalar,Dim,Affine> ReturnType;
inline static ReturnType run(const RotationDerived& r, const DiagonalMatrix<Scalar,Dim,MaxDim>& m)
{
ReturnType res(r);
res.linear() *= m;
return res;
}
};
template<typename RotationDerived,typename OtherVectorType>
struct ei_rotation_base_generic_product_selector<RotationDerived,OtherVectorType,true>
{

221
Eigen/src/Geometry/Transform.h
View File

@ -42,7 +42,8 @@ template< typename Other,
int Dim,
int HDim,
int OtherRows=Other::RowsAtCompileTime,
int OtherCols=Other::ColsAtCompileTime>
int OtherCols=Other::ColsAtCompileTime,
bool IsProjective = (Mode==(int)Projective)>
struct ei_transform_right_product_impl;
template<typename TransformType> struct ei_transform_take_affine_part;
@ -55,9 +56,9 @@ template< typename Other,
int OtherCols=Other::ColsAtCompileTime>
struct ei_transform_left_product_impl;
template<typename Lhs,
typename Rhs,
bool AnyProjective = ei_is_any_projective<Lhs,Rhs>::value >
template< typename Lhs,
typename Rhs,
bool AnyProjective = ei_is_any_projective<Lhs,Rhs>::value >
struct ei_transform_transform_product_impl;
template< typename Other,
@ -353,8 +354,8 @@ public:
*/
// note: this function is defined here because some compilers cannot find the respective declaration
template<typename OtherDerived>
inline const typename ei_transform_right_product_impl<OtherDerived,Mode,_Dim,_Dim+1>::ResultType
operator * (const EigenBase<OtherDerived> &other) const
EIGEN_STRONG_INLINE const typename ei_transform_right_product_impl<OtherDerived,Mode,_Dim,_Dim+1>::ResultType
operator * (const EigenBase<OtherDerived> &other) const
{ return ei_transform_right_product_impl<OtherDerived,Mode,Dim,HDim>::run(*this,other.derived()); }
/** \returns the product expression of a transformation matrix \a a times a transform \a b
@ -366,9 +367,40 @@ public:
*/
template<typename OtherDerived> friend
inline const typename ei_transform_left_product_impl<OtherDerived,Mode,_Dim,_Dim+1>::ResultType
operator * (const EigenBase<OtherDerived> &a, const Transform &b)
operator * (const EigenBase<OtherDerived> &a, const Transform &b)
{ return ei_transform_left_product_impl<OtherDerived,Mode,Dim,HDim>::run(a.derived(),b); }
/** \returns The product expression of a transform \a a times a diagonal matrix \a b
*
* The rhs diagonal matrix is interpreted as an affine scaling transformation. The
* product results in a Transform of the same type (mode) as the lhs only if the lhs
* mode is no isometry. In that case, the returned transform is an affinity.
*/
friend inline const Transform<Scalar,Dim,((Mode==(int)Isometry)?Affine:(int)Mode)>
operator * (const Transform &a, const DiagonalMatrix<Scalar,Dim> &b)
{
Transform<Scalar,Dim,((Mode==(int)Isometry)?Affine:(int)Mode)> res(a);
res.linear() *= b;
return res;
}
/** \returns The product expression of a diagonal matrix \a a times a transform \a b
*
* The lhs diagonal matrix is interpreted as an affine scaling transformation. The
* product results in a Transform of the same type (mode) as the lhs only if the lhs
* mode is no isometry. In that case, the returned transform is an affinity.
*/
friend inline const Transform<Scalar,Dim,((Mode==(int)Isometry)?Affine:(int)Mode)>
operator * (const DiagonalMatrix<Scalar,Dim> &a, const Transform &b)
{
Transform<Scalar,Dim,((Mode==(int)Isometry)?Affine:(int)Mode)> res;
res.linear().noalias() = a*b.linear();
res.translation().noalias() = a*b.translation();
if (Mode!=int(AffineCompact))
res.matrix().row(Dim) = b.matrix().row(Dim);
return res;
}
template<typename OtherDerived>
inline Transform& operator*=(const EigenBase<OtherDerived>& other) { return *this = *this * other; }
@ -381,8 +413,8 @@ public:
/** Concatenates two different transformations */
template<int OtherMode>
inline const typename ei_transform_transform_product_impl<
Transform,Transform<Scalar,Dim,OtherMode> >::ResultType
operator * (const Transform<Scalar,Dim,OtherMode>& other) const
Transform,Transform<Scalar,Dim,OtherMode> >::ResultType
operator * (const Transform<Scalar,Dim,OtherMode>& other) const
{
return ei_transform_transform_product_impl<Transform,Transform<Scalar,Dim,OtherMode> >::run(*this,other);
}
@ -431,6 +463,8 @@ public:
inline Transform& operator*=(const UniformScaling<Scalar>& s) { return scale(s.factor()); }
inline Transform operator*(const UniformScaling<Scalar>& s) const;
inline Transform& operator*=(const DiagonalMatrix<Scalar,Dim>& s) { linear() *= s; return *this; }
template<typename Derived>
inline Transform& operator=(const RotationBase<Derived,Dim>& r);
template<typename Derived>
@ -582,7 +616,7 @@ Transform<Scalar,Dim,Mode>& Transform<Scalar,Dim,Mode>::operator=(const QMatrix&
m_matrix << other.m11(), other.m21(), other.dx(),
other.m12(), other.m22(), other.dy(),
0, 0, 1;
return *this;
return *this;
}
/** \returns a QMatrix from \c *this assuming the dimension is 2.
@ -621,7 +655,7 @@ Transform<Scalar,Dim,Mode>& Transform<Scalar,Dim,Mode>::operator=(const QTransfo
m_matrix << other.m11(), other.m21(), other.dx(),
other.m12(), other.m22(), other.dy(),
other.m13(), other.m23(), other.m33();
return *this;
return *this;
}
/** \returns a QTransform from \c *this assuming the dimension is 2.
@ -1058,15 +1092,15 @@ struct ei_transform_construct_from_matrix<Other, AffineCompact,Dim,HDim, HDim,HD
{ transform->matrix() = other.template block<Dim,HDim>(0,0); }
};
/*********************************************************
*** Specializations of operator* with a EigenBase ***
*********************************************************/
/**********************************************************
*** Specializations of operator* with rhs EigenBase ***
**********************************************************/
// ei_general_product_return_type is a generalization of ProductReturnType, for all types (including e.g. DiagonalBase...),
// instead of being restricted to MatrixBase.
template<typename Lhs, typename Rhs> struct ei_general_product_return_type;
template<typename D1, typename D2> struct ei_general_product_return_type<MatrixBase<D1>, MatrixBase<D2> >
: ProductReturnType<D1,D2> {};
: ProductReturnType<D1,D2> {};
template<typename Lhs, typename D2> struct ei_general_product_return_type<Lhs, MatrixBase<D2> >
{ typedef D2 Type; };
template<typename D1, typename Rhs> struct ei_general_product_return_type<MatrixBase<D1>, Rhs >
@ -1085,145 +1119,48 @@ struct ei_transform_product_result
};
};
// Projective * set of homogeneous column vectors
template<typename Other, int Dim, int HDim>
struct ei_transform_right_product_impl<Other,Projective, Dim,HDim, HDim, Dynamic>
template< typename Other, int Mode, int Dim, int HDim, int OtherCols >
struct ei_transform_right_product_impl<Other, Mode, Dim, HDim, HDim, OtherCols, true>
{
typedef Transform<typename Other::Scalar,Dim,Projective> TransformType;
typedef typename TransformType::MatrixType MatrixType;
typedef typename ProductReturnType<MatrixType,Other>::Type ResultType;
static ResultType run(const TransformType& tr, const Other& other)
{ return tr.matrix() * other; }
};
typedef typename Other::Scalar Scalar;
typedef typename Other::PlainObject ResultType;
// Projective * homogeneous column vector
template<typename Other, int Dim, int HDim>
struct ei_transform_right_product_impl<Other,Projective, Dim,HDim, HDim, 1>
{
typedef Transform<typename Other::Scalar,Dim,Projective> TransformType;
typedef typename TransformType::MatrixType MatrixType;
typedef typename ProductReturnType<MatrixType,Other>::Type ResultType;
static ResultType run(const TransformType& tr, const Other& other)
{ return tr.matrix() * other; }
};
// Projective * column vector
template<typename Other, int Dim, int HDim>
struct ei_transform_right_product_impl<Other,Projective, Dim,HDim, Dim, 1>
{
typedef Transform<typename Other::Scalar,Dim,Projective> TransformType;
typedef Matrix<typename Other::Scalar,HDim,1> ResultType;
static ResultType run(const TransformType& tr, const Other& other)
{ return tr.matrix().template block<HDim,Dim>(0,0) * other + tr.matrix().col(Dim); }
};
// Affine * column vector
template<typename Other, int Mode, int Dim, int HDim>
struct ei_transform_right_product_impl<Other,Mode, Dim,HDim, Dim,1>
{
typedef Transform<typename Other::Scalar,Dim,Mode> TransformType;
typedef Matrix<typename Other::Scalar,Dim,1> ResultType;
static ResultType run(const TransformType& tr, const Other& other)
{ return tr.linear() * other + tr.translation(); }
};
// Affine * set of column vectors
// FIXME use a ReturnByValue to remove the temporary
template<typename Other, int Mode, int Dim, int HDim>
struct ei_transform_right_product_impl<Other,Mode, Dim,HDim, Dim,Dynamic>
{
typedef Transform<typename Other::Scalar,Dim,Mode> TransformType;
typedef Matrix<typename Other::Scalar,Dim,Dynamic> ResultType;
static ResultType run(const TransformType& tr, const Other& other)
{ return (tr.linear() * other).colwise() + tr.translation(); }
};
// Affine * homogeneous column vector
// FIXME added for backward compatibility, but I'm not sure we should keep it
template<typename Other, int Mode, int Dim, int HDim>
struct ei_transform_right_product_impl<Other,Mode, Dim,HDim, HDim,1>
{
typedef Transform<typename Other::Scalar,Dim,Mode> TransformType;
typedef Matrix<typename Other::Scalar,HDim,1> ResultType;
static ResultType run(const TransformType& tr, const Other& other)
{ return tr.matrix() * other; }
};
template<typename Other, int Dim, int HDim>
struct ei_transform_right_product_impl<Other,AffineCompact, Dim,HDim, HDim,1>
{
typedef Transform<typename Other::Scalar,Dim,AffineCompact> TransformType;
typedef Matrix<typename Other::Scalar,HDim,1> ResultType;
static ResultType run(const TransformType& tr, const Other& other)
EIGEN_STRONG_INLINE static ResultType run(const Transform<Scalar,Dim,Projective>& T, const Other& other)
{
ResultType res;
res.template head<HDim>() = tr.matrix() * other;
res.coeffRef(Dim) = other.coeff(Dim);
return T.matrix() * other;
}
};
// T * linear matrix => T
template<typename Other, int Mode, int Dim, int HDim>
struct ei_transform_right_product_impl<Other,Mode, Dim,HDim, Dim,Dim>
template< typename Other, int Mode, int Dim, int HDim, int OtherRows, int OtherCols >
struct ei_transform_right_product_impl<Other, Mode, Dim, HDim, OtherRows, OtherCols, false>
{
typedef Transform<typename Other::Scalar,Dim,Mode> TransformType;
typedef typename TransformType::MatrixType MatrixType;
typedef TransformType ResultType;
static ResultType run(const TransformType& tr, const Other& other)
typedef typename Other::Scalar Scalar;
typedef typename Other::PlainObject ResultType;
EIGEN_STRONG_INLINE static ResultType run(const Transform<Scalar,Dim,Mode>& T, const Other& other)
{
TransformType res;
res.matrix().col(Dim) = tr.matrix().col(Dim);
res.linearExt().noalias() = (tr.linearExt() * other);
if(Mode==int(Affine))
res.matrix().row(Dim).template head<Dim>() = tr.matrix().row(Dim).template head<Dim>();
return res;
}
};
// T * affine matrix => T
template<typename Other, int Mode, int Dim, int HDim>
struct ei_transform_right_product_impl<Other,Mode, Dim,HDim, Dim,HDim>
{
typedef Transform<typename Other::Scalar,Dim,Mode> TransformType;
typedef typename TransformType::MatrixType MatrixType;
typedef TransformType ResultType;
static ResultType run(const TransformType& tr, const Other& other)
{
TransformType res;
enum { Rows = Mode==int(Projective) ? HDim : Dim };
res.matrix().template block<Rows,HDim>(0,0).noalias() = (tr.linearExt() * other);
res.translationExt() += tr.translationExt();
if(Mode!=int(Affine))
res.makeAffine();
return res;
}
};
// T * generic matrix => Projective
template<typename Other, int Mode, int Dim, int HDim>
struct ei_transform_right_product_impl<Other,Mode, Dim,HDim, HDim,HDim>
{
typedef Transform<typename Other::Scalar,Dim,Mode> TransformType;
typedef typename TransformType::MatrixType MatrixType;
typedef Transform<typename Other::Scalar,Dim,Projective> ResultType;
static ResultType run(const TransformType& tr, const Other& other)
{ return ResultType(tr.matrix() * other); }
};
// AffineCompact * generic matrix => Projective
template<typename Other, int Dim, int HDim>
struct ei_transform_right_product_impl<Other,AffineCompact, Dim,HDim, HDim,HDim>
{
typedef Transform<typename Other::Scalar,Dim,AffineCompact> TransformType;
typedef Transform<typename Other::Scalar,Dim,Projective> ResultType;
static ResultType run(const TransformType& tr, const Other& other)
{
ResultType res;
res.affine().noalias() = tr.matrix() * other;
res.makeAffine();
EIGEN_STATIC_ASSERT(OtherRows==Dim || OtherRows==HDim, YOU_MIXED_MATRICES_OF_DIFFERENT_SIZES);
typedef Block<ResultType, Dim, OtherCols> TopLeftLhs;
typedef Block<Other, Dim, OtherCols> TopLeftRhs;
ResultType res(other.rows(),other.cols());
TopLeftLhs(res, 0, 0, Dim, other.cols()) =
( T.linear() * TopLeftRhs(other, 0, 0, Dim, other.cols()) ).colwise() +
T.translation();
// we need to take .rows() because OtherRows might be Dim or HDim
if (OtherRows==HDim)
res.row(other.rows()) = other.row(other.rows());
return res;
}
};
/**********************************************************
*** Specializations of operator* with lhs EigenBase ***
**********************************************************/
// generic HDim x HDim matrix * T => Projective
template<typename Other,int Mode, int Dim, int HDim>

120
test/geo_transformations.cpp
View File

@ -27,6 +27,81 @@
#include <Eigen/LU>
#include <Eigen/SVD>
template<typename Scalar, int Mode> void non_projective_only(void)
{
/* this test covers the following files:
Cross.h Quaternion.h, Transform.cpp
*/
typedef Matrix<Scalar,2,2> Matrix2;
typedef Matrix<Scalar,3,3> Matrix3;
typedef Matrix<Scalar,4,4> Matrix4;
typedef Matrix<Scalar,2,1> Vector2;
typedef Matrix<Scalar,3,1> Vector3;
typedef Matrix<Scalar,4,1> Vector4;
typedef Quaternion<Scalar> Quaternionx;
typedef AngleAxis<Scalar> AngleAxisx;
typedef Transform<Scalar,2,Mode> Transform2;
typedef Transform<Scalar,3,Mode> Transform3;
typedef Transform<Scalar,2,Isometry> Isometry2;
typedef Transform<Scalar,3,Isometry> Isometry3;
typedef typename Transform3::MatrixType MatrixType;
typedef DiagonalMatrix<Scalar,2> AlignedScaling2;
typedef DiagonalMatrix<Scalar,3> AlignedScaling3;
typedef Translation<Scalar,2> Translation2;
typedef Translation<Scalar,3> Translation3;
Scalar largeEps = test_precision<Scalar>();
if (ei_is_same_type<Scalar,float>::ret)
largeEps = 1e-2f;
Vector3 v0 = Vector3::Random(),
v1 = Vector3::Random();
Transform3 t0, t1, t2;
Scalar a = ei_random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
Quaternionx q1, q2;
q1 = AngleAxisx(a, v0.normalized());
t0 = Transform3::Identity();
VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
t0.linear() = q1.toRotationMatrix();
v0 << 50, 2, 1;
t0.scale(v0);
VERIFY_IS_APPROX( (t0 * Vector3(1,0,0)).template head<3>().norm(), v0.x());
t0.setIdentity();
t1.setIdentity();
v1 << 1, 2, 3;
t0.linear() = q1.toRotationMatrix();
t0.pretranslate(v0);
t0.scale(v1);
t1.linear() = q1.conjugate().toRotationMatrix();
t1.prescale(v1.cwiseInverse());
t1.translate(-v0);
VERIFY((t0 * t1).matrix().isIdentity(test_precision<Scalar>()));
t1.fromPositionOrientationScale(v0, q1, v1);
VERIFY_IS_APPROX(t1.matrix(), t0.matrix());
VERIFY_IS_APPROX(t1*v1, t0*v1);
// translation * vector
t0.setIdentity();
t0.translate(v0);
VERIFY_IS_APPROX((t0 * v1).template head<3>(), Translation3(v0) * v1);
// AlignedScaling * vector
t0.setIdentity();
t0.scale(v0);
VERIFY_IS_APPROX((t0 * v1).template head<3>(), AlignedScaling3(v0) * v1);
}
template<typename Scalar, int Mode> void transformations(void)
{
/* this test covers the following files:
@ -42,6 +117,8 @@ template<typename Scalar, int Mode> void transformations(void)
typedef AngleAxis<Scalar> AngleAxisx;
typedef Transform<Scalar,2,Mode> Transform2;
typedef Transform<Scalar,3,Mode> Transform3;
typedef Transform<Scalar,2,Isometry> Isometry2;
typedef Transform<Scalar,3,Isometry> Isometry3;
typedef typename Transform3::MatrixType MatrixType;
typedef DiagonalMatrix<Scalar,2> AlignedScaling2;
typedef DiagonalMatrix<Scalar,3> AlignedScaling3;
@ -115,17 +192,6 @@ template<typename Scalar, int Mode> void transformations(void)
t0 = Transform3::Identity();
VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
t0.linear() = q1.toRotationMatrix();
t1.setIdentity();
t1.linear() = q1.toRotationMatrix();
v0 << 50, 2, 1;//= ei_random_matrix<Vector3>().cwiseProduct(Vector3(10,2,0.5));
t0.scale(v0);
t1.prescale(v0);
VERIFY_IS_APPROX( (t0 * Vector3(1,0,0)).template head<3>().norm(), v0.x());
//VERIFY(!ei_isApprox((t1 * Vector3(1,0,0)).norm(), v0.x()));
t0.setIdentity();
t1.setIdentity();
v1 << 1, 2, 3;
@ -140,7 +206,6 @@ template<typename Scalar, int Mode> void transformations(void)
t1.fromPositionOrientationScale(v0, q1, v1);
VERIFY_IS_APPROX(t1.matrix(), t0.matrix());
VERIFY_IS_APPROX(t1*v1, t0*v1);
t0.setIdentity(); t0.scale(v0).rotate(q1.toRotationMatrix());
t1.setIdentity(); t1.scale(v0).rotate(q1);
@ -248,20 +313,20 @@ template<typename Scalar, int Mode> void transformations(void)
t0.setIdentity();
t0.prerotate(q1).prescale(v0).pretranslate(v0);
// translation * aligned scaling and transformation * mat
t1 = (Translation3(v0) * AlignedScaling3(v0)) * Matrix3(q1);
t1 = (Translation3(v0) * AlignedScaling3(v0)) * Transform3(q1);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// scaling * mat and translation * mat
t1 = Translation3(v0) * (AlignedScaling3(v0) * Matrix3(q1));
t1 = Translation3(v0) * (AlignedScaling3(v0) * Transform3(q1));
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
t0.setIdentity();
t0.scale(v0).translate(v0).rotate(q1);
// translation * mat and aligned scaling * transformation
t1 = AlignedScaling3(v0) * (Translation3(v0) * Matrix3(q1));
t1 = AlignedScaling3(v0) * (Translation3(v0) * Transform3(q1));
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// transformation * aligned scaling
t0.scale(v0);
t1 = t1 * AlignedScaling3(v0);
t1 *= AlignedScaling3(v0);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// transformation * translation
t0.translate(v0);
@ -302,16 +367,6 @@ template<typename Scalar, int Mode> void transformations(void)
t1 = t1 * (q1 * AlignedScaling3(v1));
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// translation * vector
t0.setIdentity();
t0.translate(v0);
VERIFY_IS_APPROX((t0 * v1).template head<3>(), Translation3(v0) * v1);
// AlignedScaling * vector
t0.setIdentity();
t0.scale(v0);
VERIFY_IS_APPROX((t0 * v1).template head<3>(), AlignedScaling3(v0) * v1);
// test transform inversion
t0.setIdentity();
t0.translate(v0);
@ -327,11 +382,6 @@ template<typename Scalar, int Mode> void transformations(void)
t044.block(0,0,t0.matrix().rows(),4) = t0.matrix();
VERIFY_IS_APPROX(t0.inverse(Isometry).matrix(), t044.inverse().block(0,0,t0.matrix().rows(),4));
// test extract rotation and aligned scaling
// t0.setIdentity();
// t0.translate(v0).rotate(q1).scale(v1);
// VERIFY_IS_APPROX(t0.rotation() * v1, Matrix3(q1) * v1);
Matrix3 mat_rotation, mat_scaling;
t0.setIdentity();
t0.translate(v0).rotate(q1).scale(v1);
@ -372,8 +422,12 @@ template<typename Scalar, int Mode> void transformations(void)
void test_geo_transformations()
{
for(int i = 0; i < g_repeat; i++) {
//CALL_SUBTEST_1(( transformations<double,Affine>() ));
//CALL_SUBTEST_2(( transformations<float,AffineCompact>() ));
CALL_SUBTEST_1(( transformations<double,Affine>() ));
CALL_SUBTEST_1(( non_projective_only<double,Affine>() ));
CALL_SUBTEST_2(( transformations<float,AffineCompact>() ));
CALL_SUBTEST_2(( non_projective_only<float,AffineCompact>() ));
CALL_SUBTEST_3(( transformations<double,Projective>() ));
}
}

4
test/main.h
View File

@ -118,7 +118,7 @@ namespace Eigen
for (uint ai=0 ; ai<ei_assert_list.size() ; ++ai) \
std::cerr << " " << ei_assert_list[ai] << "\n"; \
VERIFY(Eigen::should_raise_an_assert && # a); \
} catch (Eigen::ei_assert_exception e) { \
} catch (Eigen::ei_assert_exception) { \
Eigen::ei_push_assert = false; VERIFY(true); \
} \
Eigen::report_on_cerr_on_assert_failure = true; \
@ -144,7 +144,7 @@ namespace Eigen
a; \
VERIFY(Eigen::should_raise_an_assert && # a); \
} \
catch (Eigen::ei_assert_exception& e) { VERIFY(true); } \
catch (Eigen::ei_assert_exception&) { VERIFY(true); } \
Eigen::report_on_cerr_on_assert_failure = true; \
}