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Make cross product uses nested/nested_eval

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Gael Guennebaud
2014-08-01 14:47:33 +02:00
parent 26d2cdefd4
commit fc13b37c55
2 changed files with 33 additions and 6 deletions
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9
test/geo_orthomethods.cpp
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@@ -33,6 +33,7 @@ template<typename Scalar> void orthomethods_3()
VERIFY_IS_MUCH_SMALLER_THAN(v1.dot(v1.cross(v2)), Scalar(1));
VERIFY_IS_MUCH_SMALLER_THAN(v1.cross(v2).dot(v2), Scalar(1));
VERIFY_IS_MUCH_SMALLER_THAN(v2.dot(v1.cross(v2)), Scalar(1));
VERIFY_IS_MUCH_SMALLER_THAN(v1.cross(Vector3::Random()).dot(v1), Scalar(1));
Matrix3 mat3;
mat3 << v0.normalized(),
(v0.cross(v1)).normalized(),
@@ -47,6 +48,13 @@ template<typename Scalar> void orthomethods_3()
int i = internal::random<int>(0,2);
mcross = mat3.colwise().cross(vec3);
VERIFY_IS_APPROX(mcross.col(i), mat3.col(i).cross(vec3));
VERIFY_IS_MUCH_SMALLER_THAN((mat3.transpose() * mat3.colwise().cross(vec3)).diagonal().cwiseAbs().sum(), Scalar(1));
VERIFY_IS_MUCH_SMALLER_THAN((mat3.transpose() * mat3.colwise().cross(Vector3::Random())).diagonal().cwiseAbs().sum(), Scalar(1));
VERIFY_IS_MUCH_SMALLER_THAN((vec3.transpose() * mat3.colwise().cross(vec3)).cwiseAbs().sum(), Scalar(1));
VERIFY_IS_MUCH_SMALLER_THAN((vec3.transpose() * Matrix3::Random().colwise().cross(vec3)).cwiseAbs().sum(), Scalar(1));
mcross = mat3.rowwise().cross(vec3);
VERIFY_IS_APPROX(mcross.row(i), mat3.row(i).cross(vec3));
@@ -57,6 +65,7 @@ template<typename Scalar> void orthomethods_3()
v40.w() = v41.w() = v42.w() = 0;
v42.template head<3>() = v40.template head<3>().cross(v41.template head<3>());
VERIFY_IS_APPROX(v40.cross3(v41), v42);
VERIFY_IS_MUCH_SMALLER_THAN(v40.cross3(Vector4::Random()).dot(v40), Scalar(1));
// check mixed product
typedef Matrix<RealScalar, 3, 1> RealVector3;