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Fix alignedbox 32-bit precision test failure.

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The current `test/geo_alignedbox` tests fail on 32-bit arm due to small floating-point errors.

In particular, the following is not guaranteed to hold:
```
IsometryTransform identity = IsometryTransform::Identity();
BoxType transformedC;
transformedC.extend(c.transformed(identity));
VERIFY(transformedC.contains(c));
```
since `c.transformed(identity)` is ever-so-slightly different from `c`. Instead, we replace this test with one that checks an identity transform is within floating-point precision of `c`.

Also updated the condition on `AlignedBox::transform(...)` to only accept `Affine`, `AffineCompact`, and `Isometry` modes explicitly.  Otherwise, invalid combinations of modes would also incorrectly pass the assertion.
This commit is contained in:
Antonio Sanchez
2020-09-30 08:21:20 -07:00
parent 30960d485e
commit d5a0d89491
2 changed files with 11 additions and 17 deletions
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8
Eigen/src/Geometry/AlignedBox.h
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@@ -46,7 +46,7 @@
#ifndef EIGEN_ALIGNEDBOX_H
#define EIGEN_ALIGNEDBOX_H
namespace Eigen {
namespace Eigen {
/** \geometry_module \ingroup Geometry_Module
*
@@ -267,7 +267,7 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
{return AlignedBox(m_min.cwiseMax(b.m_min), m_max.cwiseMin(b.m_max)); }
/** Returns an AlignedBox that is the union of \a b and \c *this.
* \note Merging with an empty box may result in a box bigger than \c *this.
* \note Merging with an empty box may result in a box bigger than \c *this.
* \sa extend(const AlignedBox&) */
EIGEN_DEVICE_FUNC inline AlignedBox merged(const AlignedBox& b) const
{ return AlignedBox(m_min.cwiseMin(b.m_min), m_max.cwiseMax(b.m_max)); }
@@ -338,8 +338,8 @@ EIGEN_MAKE_ALIGNED_OPERATOR_NEW_IF_VECTORIZABLE_FIXED_SIZE(_Scalar,_AmbientDim)
template<int Mode, int Options>
EIGEN_DEVICE_FUNC inline void transform(const Transform<Scalar, AmbientDimAtCompileTime, Mode, Options>& transform)
{
// Projective transform is not (yet) supported
EIGEN_STATIC_ASSERT(Mode != Projective, THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS);
// Only Affine and Isometry transforms are currently supported.
EIGEN_STATIC_ASSERT(Mode == Affine || Mode == AffineCompact || Mode == Isometry, THIS_METHOD_IS_ONLY_FOR_SPECIFIC_TRANSFORMATIONS);
// Method adapted from FCL src/shape/geometric_shapes_utility.cpp#computeBV<AABB, Box>(...)
// https://github.com/flexible-collision-library/fcl/blob/fcl-0.4/src/shape/geometric_shapes_utility.cpp#L292