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Clang-format tests, examples, libraries, benchmarks, etc.

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This commit is contained in:
Antonio Sánchez
2023-12-05 21:22:55 +00:00
committed by Rasmus Munk Larsen
parent 3252ecc7a4
commit 46e9cdb7fe
876 changed files with 33453 additions and 37795 deletions
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63
test/geo_eulerangles.cpp
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@@ -16,20 +16,20 @@
#include <Eigen/LU>
#include <Eigen/SVD>
template<typename Scalar>
void verify_euler(const Matrix<Scalar, 3, 1>& ea, int i, int j, int k)
{
template <typename Scalar>
void verify_euler(const Matrix<Scalar, 3, 1>& ea, int i, int j, int k) {
typedef Matrix<Scalar, 3, 3> Matrix3;
typedef Matrix<Scalar, 3, 1> Vector3;
typedef AngleAxis<Scalar> AngleAxisx;
const Matrix3 m(AngleAxisx(ea[0], Vector3::Unit(i)) * AngleAxisx(ea[1], Vector3::Unit(j)) * AngleAxisx(ea[2], Vector3::Unit(k)));
const Matrix3 m(AngleAxisx(ea[0], Vector3::Unit(i)) * AngleAxisx(ea[1], Vector3::Unit(j)) *
AngleAxisx(ea[2], Vector3::Unit(k)));
// Test non-canonical eulerAngles
{
Vector3 eabis = m.eulerAngles(i, j, k);
Matrix3 mbis(AngleAxisx(eabis[0], Vector3::Unit(i)) * AngleAxisx(eabis[1], Vector3::Unit(j)) * AngleAxisx(eabis[2], Vector3::Unit(k)));
VERIFY_IS_APPROX(m, mbis);
Matrix3 mbis(AngleAxisx(eabis[0], Vector3::Unit(i)) * AngleAxisx(eabis[1], Vector3::Unit(j)) *
AngleAxisx(eabis[2], Vector3::Unit(k)));
VERIFY_IS_APPROX(m, mbis);
// approx_or_less_than does not work for 0
VERIFY(0 < eabis[0] || test_isMuchSmallerThan(eabis[0], Scalar(1)));
@@ -43,19 +43,17 @@ void verify_euler(const Matrix<Scalar, 3, 1>& ea, int i, int j, int k)
// Test canonicalEulerAngles
{
Vector3 eabis = m.canonicalEulerAngles(i, j, k);
Matrix3 mbis(AngleAxisx(eabis[0], Vector3::Unit(i)) * AngleAxisx(eabis[1], Vector3::Unit(j)) * AngleAxisx(eabis[2], Vector3::Unit(k)));
VERIFY_IS_APPROX(m, mbis);
Matrix3 mbis(AngleAxisx(eabis[0], Vector3::Unit(i)) * AngleAxisx(eabis[1], Vector3::Unit(j)) *
AngleAxisx(eabis[2], Vector3::Unit(k)));
VERIFY_IS_APPROX(m, mbis);
VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(EIGEN_PI), eabis[0]);
VERIFY_IS_APPROX_OR_LESS_THAN(eabis[0], Scalar(EIGEN_PI));
if (i != k)
{
if (i != k) {
// Tait-Bryan sequence
VERIFY_IS_APPROX_OR_LESS_THAN(-Scalar(EIGEN_PI / 2), eabis[1]);
VERIFY_IS_APPROX_OR_LESS_THAN(eabis[1], Scalar(EIGEN_PI / 2));
}
else
{
} else {
// Proper Euler sequence
// approx_or_less_than does not work for 0
VERIFY(0 < eabis[1] || test_isMuchSmallerThan(eabis[1], Scalar(1)));
@@ -66,10 +64,9 @@ void verify_euler(const Matrix<Scalar, 3, 1>& ea, int i, int j, int k)
}
}
template<typename Scalar> void check_all_var(const Matrix<Scalar, 3, 1>& ea)
{
auto verify_permutation = [](const Matrix<Scalar, 3, 1>& eap)
{
template <typename Scalar>
void check_all_var(const Matrix<Scalar, 3, 1>& ea) {
auto verify_permutation = [](const Matrix<Scalar, 3, 1>& eap) {
verify_euler(eap, 0, 1, 2);
verify_euler(eap, 0, 1, 0);
verify_euler(eap, 0, 2, 1);
@@ -89,15 +86,14 @@ template<typename Scalar> void check_all_var(const Matrix<Scalar, 3, 1>& ea)
int i, j, k;
for (i = 0; i < 3; i++)
for (j = 0; j < 3; j++)
for (k = 0; k < 3; k++)
{
Matrix<Scalar,3,1> eap(ea(i), ea(j), ea(k));
for (k = 0; k < 3; k++) {
Matrix<Scalar, 3, 1> eap(ea(i), ea(j), ea(k));
verify_permutation(eap);
}
}
template<typename Scalar> void eulerangles()
{
template <typename Scalar>
void eulerangles() {
typedef Matrix<Scalar, 3, 3> Matrix3;
typedef Matrix<Scalar, 3, 1> Vector3;
typedef Array<Scalar, 3, 1> Array3;
@@ -127,8 +123,7 @@ template<typename Scalar> void eulerangles()
ea = Array3::Random() * Scalar(EIGEN_PI);
check_all_var(ea);
auto test_with_some_zeros = [](const Vector3& eaz)
{
auto test_with_some_zeros = [](const Vector3& eaz) {
check_all_var(eaz);
Vector3 ea_glz = eaz;
ea_glz[0] = Scalar(0);
@@ -142,20 +137,20 @@ template<typename Scalar> void eulerangles()
};
// Check gimbal lock configurations and a bit noisy gimbal locks
Vector3 ea_gl = ea;
ea_gl[1] = EIGEN_PI/2;
ea_gl[1] = EIGEN_PI / 2;
test_with_some_zeros(ea_gl);
ea_gl[1] += internal::random<Scalar>(-0.001, 0.001);
test_with_some_zeros(ea_gl);
ea_gl[1] = -EIGEN_PI/2;
ea_gl[1] = -EIGEN_PI / 2;
test_with_some_zeros(ea_gl);
ea_gl[1] += internal::random<Scalar>(-0.001, 0.001);
test_with_some_zeros(ea_gl);
ea_gl[1] = EIGEN_PI/2;
ea_gl[1] = EIGEN_PI / 2;
ea_gl[2] = ea_gl[0];
test_with_some_zeros(ea_gl);
ea_gl[1] += internal::random<Scalar>(-0.001, 0.001);
test_with_some_zeros(ea_gl);
ea_gl[1] = -EIGEN_PI/2;
ea_gl[1] = -EIGEN_PI / 2;
test_with_some_zeros(ea_gl);
ea_gl[1] += internal::random<Scalar>(-0.001, 0.001);
test_with_some_zeros(ea_gl);
@@ -196,11 +191,9 @@ template<typename Scalar> void eulerangles()
check_all_var(ea);
}
EIGEN_DECLARE_TEST(geo_eulerangles)
{
for(int i = 0; i < g_repeat; i++)
{
CALL_SUBTEST_1( eulerangles<float>() );
CALL_SUBTEST_2( eulerangles<double>() );
EIGEN_DECLARE_TEST(geo_eulerangles) {
for (int i = 0; i < g_repeat; i++) {
CALL_SUBTEST_1(eulerangles<float>());
CALL_SUBTEST_2(eulerangles<double>());
}
}