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Fix alignedbox 32-bit precision test failure.

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The current `test/geo_alignedbox` tests fail on 32-bit arm due to small floating-point errors.

In particular, the following is not guaranteed to hold:
```
IsometryTransform identity = IsometryTransform::Identity();
BoxType transformedC;
transformedC.extend(c.transformed(identity));
VERIFY(transformedC.contains(c));
```
since `c.transformed(identity)` is ever-so-slightly different from `c`. Instead, we replace this test with one that checks an identity transform is within floating-point precision of `c`.

Also updated the condition on `AlignedBox::transform(...)` to only accept `Affine`, `AffineCompact`, and `Isometry` modes explicitly.  Otherwise, invalid combinations of modes would also incorrectly pass the assertion.
This commit is contained in:
Antonio Sanchez 2020-09-30 08:21:20 -07:00
parent 30960d485e
commit d5a0d89491
2 changed files with 11 additions and 17 deletions
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8
Eigen/src/Geometry/AlignedBox.h
View File

@ -46,7 +46,7 @@
#ifndef EIGEN_ALIGNEDBOX_H #ifndef EIGEN_ALIGNEDBOX_H
#define EIGEN_ALIGNEDBOX_H #define EIGEN_ALIGNEDBOX_H
namespace Eigen { namespace Eigen {
/** \geometry_module \ingroup Geometry_Module /** \geometry_module \ingroup Geometry_Module
* *
@ -267,7 +267,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
{return AlignedBox(m_min.cwiseMax(b.m_min), m_max.cwiseMin(b.m_max)); } {return AlignedBox(m_min.cwiseMax(b.m_min), m_max.cwiseMin(b.m_max)); }
/** Returns an AlignedBox that is the union of \a b and \c *this. /** Returns an AlignedBox that is the union of \a b and \c *this.
* \note Merging with an empty box may result in a box bigger than \c *this. * \note Merging with an empty box may result in a box bigger than \c *this.
* \sa extend(const AlignedBox&) */ * \sa extend(const AlignedBox&) */
EIGEN_DEVICE_FUNC inline AlignedBox merged(const AlignedBox& b) const EIGEN_DEVICE_FUNC inline AlignedBox merged(const AlignedBox& b) const
{ return AlignedBox(m_min.cwiseMin(b.m_min), m_max.cwiseMax(b.m_max)); } { return AlignedBox(m_min.cwiseMin(b.m_min), m_max.cwiseMax(b.m_max)); }
@ -338,8 +338,8 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
template<int Mode, int Options> template<int Mode, int Options>
EIGEN_DEVICE_FUNC inline void transform(const Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>& transform) EIGEN_DEVICE_FUNC inline void transform(const Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>& transform)
{ {
// Projective transform is not (yet) supported // Only Affine and Isometry transforms are currently supported.
EIGEN_STATIC_ASSERT(Mode != Projective, THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS); EIGEN_STATIC_ASSERT(Mode == Affine || Mode == AffineCompact || Mode == Isometry, THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS);
// Method adapted from FCL src/shape/geometric_shapes_utility.cpp#computeBV<AABB, Box>(...) // Method adapted from FCL src/shape/geometric_shapes_utility.cpp#computeBV<AABB, Box>(...)
// https://github.com/flexible-collision-library/fcl/blob/fcl-0.4/src/shape/geometric_shapes_utility.cpp#L292 // https://github.com/flexible-collision-library/fcl/blob/fcl-0.4/src/shape/geometric_shapes_utility.cpp#L292

20
test/geo_alignedbox.cpp
View File

@ -47,7 +47,7 @@ template<typename BoxType> void alignedbox(const BoxType& _box)
BoxType b0(dim); BoxType b0(dim);
BoxType b1(VectorType::Random(dim),VectorType::Random(dim)); BoxType b1(VectorType::Random(dim),VectorType::Random(dim));
BoxType b2; BoxType b2;
kill_extra_precision(b1); kill_extra_precision(b1);
kill_extra_precision(p0); kill_extra_precision(p0);
kill_extra_precision(p1); kill_extra_precision(p1);
@ -69,7 +69,7 @@ template<typename BoxType> void alignedbox(const BoxType& _box)
BoxType box2(VectorType::Random(dim)); BoxType box2(VectorType::Random(dim));
box2.extend(VectorType::Random(dim)); box2.extend(VectorType::Random(dim));
VERIFY(box1.intersects(box2) == !box1.intersection(box2).isEmpty()); VERIFY(box1.intersects(box2) == !box1.intersection(box2).isEmpty());
// alignment -- make sure there is no memory alignment assertion // alignment -- make sure there is no memory alignment assertion
BoxType *bp0 = new BoxType(dim); BoxType *bp0 = new BoxType(dim);
@ -150,11 +150,9 @@ template<typename BoxType> void alignedboxTranslatable(const BoxType& _box)
VERIFY_IS_APPROX((c.min)(), UnitX * Scalar(9)); VERIFY_IS_APPROX((c.min)(), UnitX * Scalar(9));
VERIFY_IS_APPROX((c.max)(), Ones * Scalar(18) + UnitX * Scalar(9)); VERIFY_IS_APPROX((c.max)(), Ones * Scalar(18) + UnitX * Scalar(9));
// test for roundoff errors // Check identity transform within numerical precision.
IsometryTransform identity = IsometryTransform::Identity(); BoxType transformedC = c.transformed(IsometryTransform::Identity());
BoxType transformedC; VERIFY_IS_APPROX(transformedC, c);
transformedC.extend(c.transformed(identity));
VERIFY(transformedC.contains(c));
for (size_t i = 0; i < 10; ++i) for (size_t i = 0; i < 10; ++i)
{ {
@ -335,10 +333,6 @@ template<typename BoxType, typename Rotation> void alignedboxNonIntegralRotatabl
const Index dim = _box.dim(); const Index dim = _box.dim();
const VectorType Zero = VectorType::Zero(); const VectorType Zero = VectorType::Zero();
const VectorType Ones = VectorType::Ones(); const VectorType Ones = VectorType::Ones();
const VectorType UnitX = VectorType::UnitX();
const VectorType UnitY = VectorType::UnitY();
// this is vector (0, 0, -1, -1, -1, ...), i.e. with zeros at first and second dimensions
const VectorType UnitZ = Ones - UnitX - UnitY;
VectorType minPoint = -2 * Ones; VectorType minPoint = -2 * Ones;
minPoint[1] = 1; minPoint[1] = 1;
@ -365,7 +359,7 @@ template<typename BoxType, typename Rotation> void alignedboxNonIntegralRotatabl
cornerBR = tf2 * cornerBR; cornerBR = tf2 * cornerBR;
cornerTL = tf2 * cornerTL; cornerTL = tf2 * cornerTL;
cornerTR = tf2 * cornerTR; cornerTR = tf2 * cornerTR;
VectorType minCorner = Ones * Scalar(-2); VectorType minCorner = Ones * Scalar(-2);
VectorType maxCorner = Zero; VectorType maxCorner = Zero;
minCorner[0] = (min)((min)(cornerBL[0], cornerBR[0]), (min)(cornerTL[0], cornerTR[0])); minCorner[0] = (min)((min)(cornerBL[0], cornerBR[0]), (min)(cornerTL[0], cornerTR[0]));
@ -471,7 +465,7 @@ template<typename BoxType, typename Rotation> void alignedboxNonIntegralRotatabl
template<typename BoxType> template<typename BoxType>
void alignedboxCastTests(const BoxType& _box) void alignedboxCastTests(const BoxType& _box)
{ {
// casting // casting
typedef typename BoxType::Scalar Scalar; typedef typename BoxType::Scalar Scalar;
typedef Matrix<Scalar, BoxType::AmbientDimAtCompileTime, 1> VectorType; typedef Matrix<Scalar, BoxType::AmbientDimAtCompileTime, 1> VectorType;