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test case for unaligned quaternion

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This commit is contained in:
Jakob Schwendner 2011-01-27 09:14:30 -05:00
parent 0aa752fc4f
commit e3306953ef
1 changed files with 36 additions and 8 deletions
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44
test/geo_quaternion.cpp
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@ -28,7 +28,7 @@
#include <Eigen/LU>
#include <Eigen/SVD>
template<typename Scalar> void quaternion(void)
template<typename Scalar, int Options> void quaternion(void)
{
/* this test covers the following files:
Quaternion.h
@ -36,7 +36,7 @@ template<typename Scalar> void quaternion(void)
typedef Matrix<Scalar,3,3> Matrix3;
typedef Matrix<Scalar,3,1> Vector3;
typedef Quaternion<Scalar> Quaternionx;
typedef Quaternion<Scalar,Options> Quaternionx;
typedef AngleAxis<Scalar> AngleAxisx;
Scalar largeEps = test_precision<Scalar>();
@ -119,10 +119,10 @@ template<typename Scalar> void mapQuaternion(void){
typedef Map<Quaternion<Scalar> > MQuaternionUA;
typedef Quaternion<Scalar> Quaternionx;
EIGEN_ALIGN16 Scalar array1[4];
EIGEN_ALIGN16 Scalar array2[4];
EIGEN_ALIGN16 Scalar array3[4+1];
Scalar* array3unaligned = array3+1;
EIGEN_ALIGN16 Scalar array1[4];
EIGEN_ALIGN16 Scalar array2[4];
EIGEN_ALIGN16 Scalar array3[4+1];
Scalar* array3unaligned = array3+1;
MQuaternionA(array1).coeffs().setRandom();
(MQuaternionA(array2)) = MQuaternionA(array1);
@ -139,11 +139,39 @@ template<typename Scalar> void mapQuaternion(void){
#endif
}
template<typename Scalar> void quaternionAlignment(void){
typedef Quaternion<Scalar,AutoAlign> QuaternionA;
typedef Quaternion<Scalar,DontAlign> QuaternionUA;
EIGEN_ALIGN16 Scalar array1[4];
EIGEN_ALIGN16 Scalar array2[4];
EIGEN_ALIGN16 Scalar array3[4+1];
Scalar* arrayunaligned = array3+1;
QuaternionA *q1 = ::new(reinterpret_cast<void*>(array1)) QuaternionA;
QuaternionUA *q2 = ::new(reinterpret_cast<void*>(array2)) QuaternionUA;
QuaternionUA *q3 = ::new(reinterpret_cast<void*>(arrayunaligned)) QuaternionUA;
q1->coeffs().setRandom();
*q2 = *q1;
*q3 = *q1;
VERIFY_IS_APPROX(q1->coeffs(), q2->coeffs());
VERIFY_IS_APPROX(q1->coeffs(), q3->coeffs());
#ifdef EIGEN_VECTORIZE
VERIFY_RAISES_ASSERT((::new(reinterpret_cast<void*>(arrayunaligned)) QuaternionA));
#endif
}
void test_geo_quaternion()
{
for(int i = 0; i < g_repeat; i++) {
CALL_SUBTEST_1( quaternion<float>() );
CALL_SUBTEST_2( quaternion<double>() );
CALL_SUBTEST_1(( quaternion<float,AutoAlign>() ));
CALL_SUBTEST_2(( quaternion<double,AutoAlign>() ));
CALL_SUBTEST_3(( quaternion<float,DontAlign>() ));
CALL_SUBTEST_4(( quaternion<double,DontAlign>() ));
CALL_SUBTEST_5(( quaternionAlignment<float>() ));
CALL_SUBTEST_6(( quaternionAlignment<double>() ));
CALL_SUBTEST( mapQuaternion<float>() );
CALL_SUBTEST( mapQuaternion<double>() );
}