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* bug fixes in: Dot, generalized eigen problem, singular matrix detetection in Cholesky

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* fix all numerical instabilies in the unit tests, now all tests can be run 2000 times
  with almost zero failures.
This commit is contained in:
Gael Guennebaud
2008-08-23 15:14:20 +00:00
parent 312013a089
commit 2120fed849
20 changed files with 632 additions and 103 deletions
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13
test/geometry.cpp
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@@ -69,8 +69,8 @@ template<typename Scalar> void geometry(void)
VERIFY_IS_APPROX(q1 * v2, q1.toRotationMatrix() * v2);
VERIFY_IS_APPROX(q1 * q2 * v2,
q1.toRotationMatrix() * q2.toRotationMatrix() * v2);
VERIFY_IS_NOT_APPROX(q2 * q1 * v2,
q1.toRotationMatrix() * q2.toRotationMatrix() * v2);
VERIFY( !(q2 * q1 * v2).isApprox(
q1.toRotationMatrix() * q2.toRotationMatrix() * v2));
q2 = q1.toRotationMatrix();
VERIFY_IS_APPROX(q1*v1,q2*v1);
@@ -126,7 +126,7 @@ template<typename Scalar> void geometry(void)
t1.prescale(v0);
VERIFY_IS_APPROX( (t0 * Vector3(1,0,0)).norm(), v0.x());
VERIFY_IS_NOT_APPROX((t1 * Vector3(1,0,0)).norm(), v0.x());
VERIFY(!ei_isApprox((t1 * Vector3(1,0,0)).norm(), v0.x()));
t0.setIdentity();
t1.setIdentity();
@@ -138,7 +138,7 @@ template<typename Scalar> void geometry(void)
t1.prescale(v1.cwise().inverse());
t1.translate(-v0);
VERIFY((t0.matrix() * t1.matrix()).isIdentity());
VERIFY((t0.matrix() * t1.matrix()).isIdentity(test_precision<Scalar>()));
t1.fromPositionOrientationScale(v0, q1, v1);
VERIFY_IS_APPROX(t1.matrix(), t0.matrix());
@@ -147,6 +147,8 @@ template<typename Scalar> void geometry(void)
Transform2 t20, t21;
Vector2 v20 = test_random_matrix<Vector2>();
Vector2 v21 = test_random_matrix<Vector2>();
for (int k=0; k<2; ++k)
if (ei_abs(v21[k])<1e-3) v21[k] = 1e-3;
t21.setIdentity();
t21.linear() = Rotation2D<Scalar>(a).toRotationMatrix();
VERIFY_IS_APPROX(t20.fromPositionOrientationScale(v20,a,v21).matrix(),
@@ -154,7 +156,8 @@ template<typename Scalar> void geometry(void)
t21.setIdentity();
t21.linear() = Rotation2D<Scalar>(-a).toRotationMatrix();
VERIFY( (t20.fromPositionOrientationScale(v20,a,v21) * (t21.prescale(v21.cwise().inverse()).translate(-v20))).isIdentity() );
VERIFY( (t20.fromPositionOrientationScale(v20,a,v21)
* (t21.prescale(v21.cwise().inverse()).translate(-v20))).isIdentity(test_precision<Scalar>()) );
}
void test_geometry()