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fix unitialized quaternion

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This commit is contained in:
Gael Guennebaud 2010-09-08 12:57:33 +02:00
parent d591b0466d
commit f9123df772
1 changed files with 9 additions and 4 deletions
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13
bench/geometry.cpp
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@ -10,6 +10,10 @@ using namespace Eigen;
#define SCALAR float #define SCALAR float
#endif #endif
#ifndef SIZE
#define SIZE 8
#endif
typedef SCALAR Scalar; typedef SCALAR Scalar;
typedef NumTraits<Scalar>::Real RealScalar; typedef NumTraits<Scalar>::Real RealScalar;
typedef Matrix<RealScalar,Dynamic,Dynamic> A; typedef Matrix<RealScalar,Dynamic,Dynamic> A;
@ -69,7 +73,7 @@ struct bench_impl
data.setRandom(); data.setRandom();
bench_impl<Transformation,N-1>::run(t); bench_impl<Transformation,N-1>::run(t);
BenchTimer timer; BenchTimer timer;
BENCH(timer,4,100000,transform(t,data)); BENCH(timer,10,100000,transform(t,data));
cout.width(9); cout.width(9);
cout << timer.best() << " "; cout << timer.best() << " ";
} }
@ -86,7 +90,7 @@ template<typename Transformation>
EIGEN_DONT_INLINE void bench(const std::string& msg, const Transformation& t) EIGEN_DONT_INLINE void bench(const std::string& msg, const Transformation& t)
{ {
cout << msg << " "; cout << msg << " ";
bench_impl<Transformation,8>::run(t); bench_impl<Transformation,SIZE>::run(t);
std::cout << "\n"; std::cout << "\n";
} }
@ -97,19 +101,20 @@ int main(int argc, char ** argv)
Transform<Scalar,3,Affine> aff3(mat34); Transform<Scalar,3,Affine> aff3(mat34);
Transform<Scalar,3,AffineCompact> caff3(mat34); Transform<Scalar,3,AffineCompact> caff3(mat34);
Transform<Scalar,3,Projective> proj3(mat34); Transform<Scalar,3,Projective> proj3(mat34);
Quaternion<Scalar> quat; Quaternion<Scalar> quat;quat.setIdentity();
ToRotationMatrixWrapper<Quaternion<Scalar> > quatmat(quat); ToRotationMatrixWrapper<Quaternion<Scalar> > quatmat(quat);
Matrix<Scalar,3,3> mat33; mat33.setRandom(); Matrix<Scalar,3,3> mat33; mat33.setRandom();
cout.precision(4); cout.precision(4);
std::cout std::cout
<< "N "; << "N ";
for(int i=0;i<8;++i) for(int i=0;i<SIZE;++i)
{ {
cout.width(9); cout.width(9);
cout << i+1 << " "; cout << i+1 << " ";
} }
cout << "\n"; cout << "\n";
bench("matrix 3x3", mat33); bench("matrix 3x3", mat33);
bench("quaternion", quat); bench("quaternion", quat);
bench("quat-mat ", quatmat); bench("quat-mat ", quatmat);