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big huge changes, so i dont remember everything.

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* renaming, e.g. LU ---> FullPivLU
* split tests framework: more robust, e.g. dont generate empty tests if a number is skipped
* make all remaining tests use that splitting, as needed.
* Fix 4x4 inversion (see stable branch)
* Transform::inverse() and geo_transform test : adapt to new inverse() API, it was also trying to instantiate inverse() for 3x4 matrices.
* CMakeLists: more robust regexp to parse the version number
* misc fixes in unit tests
This commit is contained in:
Benoit Jacob
2009-10-28 18:19:29 -04:00
parent 1f1c04cac1
commit 2840ac7e94
99 changed files with 816 additions and 710 deletions
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30
test/geo_transformations.cpp
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@@ -298,16 +298,19 @@ template<typename Scalar, int Mode> void transformations(void)
VERIFY_IS_APPROX((t0 * v1).template start<3>(), AlignedScaling3(v0) * v1);
// test transform inversion
if(Mode!=AffineCompact)
{
t0.setIdentity();
t0.translate(v0);
t0.linear().setRandom();
VERIFY_IS_APPROX(t0.inverse(Affine).matrix(), t0.matrix().inverse());
t0.setIdentity();
t0.translate(v0).rotate(q1);
VERIFY_IS_APPROX(t0.inverse(Isometry).matrix(), t0.matrix().inverse());
}
t0.setIdentity();
t0.translate(v0);
t0.linear().setRandom();
Matrix4 t044 = Matrix4::Zero();
t044(3,3) = 1;
t044.block(0,0,t0.matrix().rows(),4) = t0.matrix();
VERIFY_IS_APPROX(t0.inverse(Affine).matrix(), t044.inverse().block(0,0,t0.matrix().rows(),4));
t0.setIdentity();
t0.translate(v0).rotate(q1);
t044 = Matrix4::Zero();
t044(3,3) = 1;
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();
@@ -354,9 +357,8 @@ template<typename Scalar, int Mode> void transformations(void)
void test_geo_transformations()
{
for(int i = 0; i < g_repeat; i++) {
// CALL_SUBTEST( transformations<float>() );
CALL_SUBTEST(( transformations<double,Affine>() ));
CALL_SUBTEST(( transformations<double,AffineCompact>() ));
CALL_SUBTEST(( transformations<double,Projective>() ));
CALL_SUBTEST_1(( transformations<double,Affine>() ));
CALL_SUBTEST_2(( transformations<float,AffineCompact>() ));
CALL_SUBTEST_3(( transformations<double,Projective>() ));
}
}