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backport 4x4 inverse changes:

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- use cofactors
 - use Intel's SSE code in the float case
This commit is contained in:
Benoit Jacob
2009-12-15 08:16:48 -05:00
parent b581cb870c
commit 4262117f84
2 changed files with 135 additions and 85 deletions
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10
test/prec_inverse_4x4.cpp
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@@ -45,7 +45,6 @@ template<typename MatrixType> void inverse_permutation_4x4()
{
typedef typename MatrixType::Scalar Scalar;
typedef typename MatrixType::RealScalar RealScalar;
double error_max = 0.;
Vector4i indices(0,1,2,3);
for(int i = 0; i < 24; ++i)
{
@@ -56,12 +55,9 @@ template<typename MatrixType> void inverse_permutation_4x4()
m(indices(3),3) = 1;
MatrixType inv = m.inverse();
double error = double( (m*inv-MatrixType::Identity()).norm() / epsilon<Scalar>() );
error_max = std::max(error_max, error);
VERIFY(error == 0.0);
std::next_permutation(indices.data(),indices.data()+4);
}
std::cerr << "inverse_permutation_4x4, Scalar = " << type_name<Scalar>() << std::endl;
EIGEN_DEBUG_VAR(error_max);
VERIFY(error_max < 1. );
}
template<typename MatrixType> void inverse_general_4x4(int repeat)
@@ -86,8 +82,8 @@ template<typename MatrixType> void inverse_general_4x4(int repeat)
double error_avg = error_sum / repeat;
EIGEN_DEBUG_VAR(error_avg);
EIGEN_DEBUG_VAR(error_max);
VERIFY(error_avg < (NumTraits<Scalar>::IsComplex ? 8.4 : 1.4) );
VERIFY(error_max < (NumTraits<Scalar>::IsComplex ? 160.0 : 75.) );
VERIFY(error_avg < (NumTraits<Scalar>::IsComplex ? 8.0 : 1.0));
VERIFY(error_max < (NumTraits<Scalar>::IsComplex ? 64.0 : 20.0));
}
void test_prec_inverse_4x4()