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Transformation methods added to ParametrizedLine class.

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This commit is contained in:
ermak
2016-12-17 00:45:13 +07:00
parent 0e0d92d34b
commit d60cca32e5
2 changed files with 65 additions and 1 deletions
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27
test/geo_parametrizedline.cpp
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@@ -25,6 +25,8 @@ template<typename LineType> void parametrizedline(const LineType& _line)
typedef typename NumTraits<Scalar>::Real RealScalar;
typedef Matrix<Scalar, LineType::AmbientDimAtCompileTime, 1> VectorType;
typedef Hyperplane<Scalar,LineType::AmbientDimAtCompileTime> HyperplaneType;
typedef Matrix<Scalar, HyperplaneType::AmbientDimAtCompileTime,
HyperplaneType::AmbientDimAtCompileTime> MatrixType;
VectorType p0 = VectorType::Random(dim);
VectorType p1 = VectorType::Random(dim);
@@ -59,6 +61,31 @@ template<typename LineType> void parametrizedline(const LineType& _line)
VERIFY_IS_MUCH_SMALLER_THAN(hp.signedDistance(pi), RealScalar(1));
VERIFY_IS_MUCH_SMALLER_THAN(l0.distance(pi), RealScalar(1));
VERIFY_IS_APPROX(l0.intersectionPoint(hp), pi);
// transform
if (!NumTraits<Scalar>::IsComplex)
{
MatrixType rot = MatrixType::Random(dim,dim).householderQr().householderQ();
DiagonalMatrix<Scalar,LineType::AmbientDimAtCompileTime> scaling(VectorType::Random());
Translation<Scalar,LineType::AmbientDimAtCompileTime> translation(VectorType::Random());
while(scaling.diagonal().cwiseAbs().minCoeff()<RealScalar(1e-4)) scaling.diagonal() = VectorType::Random();
LineType l1 = l0;
VectorType p3 = l0.pointAt(Scalar(1));
VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot).distance(rot * p3), Scalar(1) );
l1 = l0;
VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot,Isometry).distance(rot * p3), Scalar(1) );
l1 = l0;
VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot*scaling).distance((rot*scaling) * p3), Scalar(1) );
l1 = l0;
VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot*scaling*translation)
.distance((rot*scaling*translation) * p3), Scalar(1) );
l1 = l0;
VERIFY_IS_MUCH_SMALLER_THAN( l1.transform(rot*translation,Isometry)
.distance((rot*translation) * p3), Scalar(1) );
}
}
template<typename Scalar> void parametrizedline_alignment()