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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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46
test/skew_symmetric_matrix3.cpp
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@@ -74,16 +74,15 @@ void plusMinus() {
VERIFY_IS_APPROX((sk1 - sk2).toDenseMatrix(), sq1 - sq2);
SquareMatrix sq3 = v1.asSkewSymmetric();
VERIFY_IS_APPROX( sq3 = v1.asSkewSymmetric() + v2.asSkewSymmetric(), sq1 + sq2);
VERIFY_IS_APPROX( sq3 = v1.asSkewSymmetric() - v2.asSkewSymmetric(), sq1 - sq2);
VERIFY_IS_APPROX( sq3 = v1.asSkewSymmetric() - 2*v2.asSkewSymmetric() + v1.asSkewSymmetric(), sq1 - 2*sq2 + sq1);
VERIFY_IS_APPROX(sq3 = v1.asSkewSymmetric() + v2.asSkewSymmetric(), sq1 + sq2);
VERIFY_IS_APPROX(sq3 = v1.asSkewSymmetric() - v2.asSkewSymmetric(), sq1 - sq2);
VERIFY_IS_APPROX(sq3 = v1.asSkewSymmetric() - 2 * v2.asSkewSymmetric() + v1.asSkewSymmetric(), sq1 - 2 * sq2 + sq1);
VERIFY_IS_APPROX((sk1 + sk1).vector(), 2*v1);
VERIFY_IS_APPROX((sk1 + sk1).vector(), 2 * v1);
VERIFY((sk1 - sk1).vector().isZero());
VERIFY((sk1 - sk1).toDenseMatrix().isZero());
}
template <typename Scalar>
void multiplyScale() {
typedef Matrix<Scalar, 3, 1> Vector;
@@ -96,8 +95,8 @@ void multiplyScale() {
sk1 = v1.asSkewSymmetric();
const Scalar s1 = internal::random<Scalar>();
VERIFY_IS_APPROX(SkewSymmetricMatrix3<Scalar>(sk1*s1).vector(), sk1.vector() * s1);
VERIFY_IS_APPROX(SkewSymmetricMatrix3<Scalar>(s1*sk1).vector(), s1 * sk1.vector());
VERIFY_IS_APPROX(SkewSymmetricMatrix3<Scalar>(sk1 * s1).vector(), sk1.vector() * s1);
VERIFY_IS_APPROX(SkewSymmetricMatrix3<Scalar>(s1 * sk1).vector(), s1 * sk1.vector());
VERIFY_IS_APPROX(sq1 * (sk1 * s1), (sq1 * sk1) * s1);
const Vector v2 = Vector::Random();
@@ -105,14 +104,14 @@ void multiplyScale() {
sq2 = v2.asSkewSymmetric();
SkewSymmetricMatrix3<Scalar> sk2;
sk2 = v2.asSkewSymmetric();
VERIFY_IS_APPROX(sk1*sk2, sq1*sq2);
VERIFY_IS_APPROX(sk1 * sk2, sq1 * sq2);
// null space
VERIFY((sk1*v1).isZero());
VERIFY((sk2*v2).isZero());
VERIFY((sk1 * v1).isZero());
VERIFY((sk2 * v2).isZero());
}
template<typename Matrix>
template <typename Matrix>
void skewSymmetricMultiplication(const Matrix& m) {
typedef Eigen::Matrix<typename Matrix::Scalar, 3, 1> Vector;
const Vector v = Vector::Random();
@@ -127,7 +126,7 @@ void traceAndDet() {
typedef Matrix<Scalar, 3, 1> Vector;
const Vector v = Vector::Random();
// this does not work, values larger than 1.e-08 can be seen
//VERIFY_IS_APPROX(sq.determinant(), static_cast<Scalar>(0));
// VERIFY_IS_APPROX(sq.determinant(), static_cast<Scalar>(0));
VERIFY_IS_APPROX(v.asSkewSymmetric().determinant(), static_cast<Scalar>(0));
VERIFY_IS_APPROX(v.asSkewSymmetric().toDenseMatrix().trace(), static_cast<Scalar>(0));
}
@@ -149,10 +148,10 @@ void exponentialIdentity() {
Vector v2 = Vector::Random();
v2.normalize();
VERIFY((2*EIGEN_PI*v2).asSkewSymmetric().exponential().isIdentity());
VERIFY((2 * EIGEN_PI * v2).asSkewSymmetric().exponential().isIdentity());
Vector v3;
const auto precision = static_cast<Scalar>(1.1)*NumTraits<Scalar>::dummy_precision();
const auto precision = static_cast<Scalar>(1.1) * NumTraits<Scalar>::dummy_precision();
v3 << 0, 0, precision;
VERIFY(v3.asSkewSymmetric().exponential().isIdentity(precision));
}
@@ -174,23 +173,20 @@ void exponentialRotation() {
// rotation axis is invariant
const Vector v1 = Vector::Random();
const SquareMatrix r1 = v1.asSkewSymmetric().exponential();
VERIFY_IS_APPROX(r1*v1, v1);
VERIFY_IS_APPROX(r1 * v1, v1);
// rotate around z-axis
Vector v2;
v2 << 0, 0, EIGEN_PI;
const SquareMatrix r2 = v2.asSkewSymmetric().exponential();
VERIFY_IS_APPROX(r2*(Vector() << 1,0,0).finished(), (Vector() << -1,0,0).finished());
VERIFY_IS_APPROX(r2*(Vector() << 0,1,0).finished(), (Vector() << 0,-1,0).finished());
VERIFY_IS_APPROX(r2 * (Vector() << 1, 0, 0).finished(), (Vector() << -1, 0, 0).finished());
VERIFY_IS_APPROX(r2 * (Vector() << 0, 1, 0).finished(), (Vector() << 0, -1, 0).finished());
}
} // namespace
} // namespace
EIGEN_DECLARE_TEST(skew_symmetric_matrix3)
{
for(int i = 0; i < g_repeat; i++) {
EIGEN_DECLARE_TEST(skew_symmetric_matrix3) {
for (int i = 0; i < g_repeat; i++) {
CALL_SUBTEST_1(constructors<float>());
CALL_SUBTEST_1(constructors<double>());
CALL_SUBTEST_1(assignments<float>());
@@ -200,8 +196,8 @@ EIGEN_DECLARE_TEST(skew_symmetric_matrix3)
CALL_SUBTEST_2(plusMinus<double>());
CALL_SUBTEST_2(multiplyScale<float>());
CALL_SUBTEST_2(multiplyScale<double>());
CALL_SUBTEST_2(skewSymmetricMultiplication(MatrixXf(3,internal::random<int>(1,EIGEN_TEST_MAX_SIZE))));
CALL_SUBTEST_2(skewSymmetricMultiplication(MatrixXd(3,internal::random<int>(1,EIGEN_TEST_MAX_SIZE))));
CALL_SUBTEST_2(skewSymmetricMultiplication(MatrixXf(3, internal::random<int>(1, EIGEN_TEST_MAX_SIZE))));
CALL_SUBTEST_2(skewSymmetricMultiplication(MatrixXd(3, internal::random<int>(1, EIGEN_TEST_MAX_SIZE))));
CALL_SUBTEST_2(traceAndDet<float>());
CALL_SUBTEST_2(traceAndDet<double>());
CALL_SUBTEST_2(transpose<float>());