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Merged eigen/eigen into default

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This commit is contained in:
Rasmus Larsen
2019-01-14 10:23:23 -08:00
parent 1c6e6e2c3f 3c9e6d206d
commit 5a59452aae
13 changed files with 246 additions and 63 deletions
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61
test/geo_transformations.cpp
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@@ -612,6 +612,62 @@ template<typename Scalar, int Dim, int Options> void transform_products()
VERIFY_IS_APPROX((ac*p).matrix(), a_m*p_m);
}
template<typename Scalar, int Mode, int Options> void transformations_no_scale()
{
/* this test covers the following files:
Cross.h Quaternion.h, Transform.h
*/
typedef Matrix<Scalar,3,1> Vector3;
typedef Matrix<Scalar,4,1> Vector4;
typedef Quaternion<Scalar> Quaternionx;
typedef AngleAxis<Scalar> AngleAxisx;
typedef Transform<Scalar,3,Mode,Options> Transform3;
typedef Translation<Scalar,3> Translation3;
typedef Matrix<Scalar,4,4> Matrix4;
Vector3 v0 = Vector3::Random(),
v1 = Vector3::Random();
Transform3 t0, t1, t2;
Scalar a = internal::random<Scalar>(-Scalar(EIGEN_PI), Scalar(EIGEN_PI));
Quaternionx q1, q2;
q1 = AngleAxisx(a, v0.normalized());
t0 = Transform3::Identity();
VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
t0.setIdentity();
t1.setIdentity();
v1 = Vector3::Ones();
t0.linear() = q1.toRotationMatrix();
t0.pretranslate(v0);
t1.linear() = q1.conjugate().toRotationMatrix();
t1.translate(-v0);
VERIFY((t0 * t1).matrix().isIdentity(test_precision<Scalar>()));
t1.fromPositionOrientationScale(v0, q1, v1);
VERIFY_IS_APPROX(t1.matrix(), t0.matrix());
VERIFY_IS_APPROX(t1*v1, t0*v1);
// translation * vector
t0.setIdentity();
t0.translate(v0);
VERIFY_IS_APPROX((t0 * v1).template head<3>(), Translation3(v0) * v1);
// Conversion to matrix.
Transform3 t3;
t3.linear() = q1.toRotationMatrix();
t3.translation() = v1;
Matrix4 m3 = t3.matrix();
VERIFY((m3 * m3.inverse()).isIdentity(test_precision<Scalar>()));
// Verify implicit last row is initialized.
VERIFY_IS_APPROX(Vector4(m3.row(3)), Vector4(0.0, 0.0, 0.0, 1.0));
}
EIGEN_DECLARE_TEST(geo_transformations)
{
for(int i = 0; i < g_repeat; i++) {
@@ -625,7 +681,7 @@ EIGEN_DECLARE_TEST(geo_transformations)
CALL_SUBTEST_3(( transformations<double,Projective,AutoAlign>() ));
CALL_SUBTEST_3(( transformations<double,Projective,DontAlign>() ));
CALL_SUBTEST_3(( transform_alignment<double>() ));
CALL_SUBTEST_4(( transformations<float,Affine,RowMajor|AutoAlign>() ));
CALL_SUBTEST_4(( non_projective_only<float,Affine,RowMajor>() ));
@@ -641,5 +697,8 @@ EIGEN_DECLARE_TEST(geo_transformations)
CALL_SUBTEST_8(( transform_associativity<double,2,ColMajor>(Rotation2D<double>(internal::random<double>()*double(EIGEN_PI))) ));
CALL_SUBTEST_8(( transform_associativity<double,3,ColMajor>(Quaterniond::UnitRandom()) ));
CALL_SUBTEST_9(( transformations_no_scale<double,Affine,AutoAlign>() ));
CALL_SUBTEST_9(( transformations_no_scale<double,Isometry,AutoAlign>() ));
}
}

4
test/lu.cpp
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@@ -18,6 +18,8 @@ typename MatrixType::RealScalar matrix_l1_norm(const MatrixType& m) {
template<typename MatrixType> void lu_non_invertible()
{
STATIC_CHECK(( internal::is_same<typename FullPivLU<MatrixType>::StorageIndex,int>::value ));
typedef typename MatrixType::RealScalar RealScalar;
/* this test covers the following files:
LU.h
@@ -191,6 +193,8 @@ template<typename MatrixType> void lu_partial_piv()
m1.setRandom();
PartialPivLU<MatrixType> plu(m1);
STATIC_CHECK(( internal::is_same<typename PartialPivLU<MatrixType>::StorageIndex,int>::value ));
VERIFY_IS_APPROX(m1, plu.reconstructedMatrix());
m3 = MatrixType::Random(size,size);

1
test/packetmath.cpp
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@@ -568,6 +568,7 @@ template<typename Scalar,typename Packet> void packetmath_real()
h.store(data2, internal::plog(h.load(data1)));
VERIFY((numext::isinf)(data2[0]));
}
if(PacketTraits::HasSqrt)
{
packet_helper<PacketTraits::HasSqrt,Packet> h;
data1[0] = Scalar(-1.0f);