ground/gcs/src/libs/eigen/test/diagonalmatrices.cpp

   1 // This file is part of Eigen, a lightweight C++ template library
   2 // for linear algebra.
   3 //
   4 // Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
   5 //
   6 // This Source Code Form is subject to the terms of the Mozilla
   7 // Public License v. 2.0. If a copy of the MPL was not distributed
   8 // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
   9
  10 #include "main.h"
  11 using namespace std;
  12 template<typename MatrixType> void diagonalmatrices(const MatrixType& m)
  13 {
  14   typedef typename MatrixType::Index Index;
  15   typedef typename MatrixType::Scalar Scalar;
  16   enum { Rows = MatrixType::RowsAtCompileTime, Cols = MatrixType::ColsAtCompileTime };
  17   typedef Matrix<Scalar, Rows, 1> VectorType;
  18   typedef Matrix<Scalar, 1, Cols> RowVectorType;
  19   typedef Matrix<Scalar, Rows, Rows> SquareMatrixType;
  20   typedef Matrix<Scalar, Dynamic, Dynamic> DynMatrixType;
  21   typedef DiagonalMatrix<Scalar, Rows> LeftDiagonalMatrix;
  22   typedef DiagonalMatrix<Scalar, Cols> RightDiagonalMatrix;
  23   typedef Matrix<Scalar, Rows==Dynamic?Dynamic:2*Rows, Cols==Dynamic?Dynamic:2*Cols> BigMatrix;
  24   Index rows = m.rows();
  25   Index cols = m.cols();
  26
  27   MatrixType m1 = MatrixType::Random(rows, cols),
  28              m2 = MatrixType::Random(rows, cols);
  29   VectorType v1 = VectorType::Random(rows),
  30              v2 = VectorType::Random(rows);
  31   RowVectorType rv1 = RowVectorType::Random(cols),
  32              rv2 = RowVectorType::Random(cols);
  33   LeftDiagonalMatrix ldm1(v1), ldm2(v2);
  34   RightDiagonalMatrix rdm1(rv1), rdm2(rv2);
  35
  36   Scalar s1 = internal::random<Scalar>();
  37
  38   SquareMatrixType sq_m1 (v1.asDiagonal());
  39   VERIFY_IS_APPROX(sq_m1, v1.asDiagonal().toDenseMatrix());
  40   sq_m1 = v1.asDiagonal();
  41   VERIFY_IS_APPROX(sq_m1, v1.asDiagonal().toDenseMatrix());
  42   SquareMatrixType sq_m2 = v1.asDiagonal();
  43   VERIFY_IS_APPROX(sq_m1, sq_m2);
  44
  45   ldm1 = v1.asDiagonal();
  46   LeftDiagonalMatrix ldm3(v1);
  47   VERIFY_IS_APPROX(ldm1.diagonal(), ldm3.diagonal());
  48   LeftDiagonalMatrix ldm4 = v1.asDiagonal();
  49   VERIFY_IS_APPROX(ldm1.diagonal(), ldm4.diagonal());
  50
  51   sq_m1.block(0,0,rows,rows) = ldm1;
  52   VERIFY_IS_APPROX(sq_m1, ldm1.toDenseMatrix());
  53   sq_m1.transpose() = ldm1;
  54   VERIFY_IS_APPROX(sq_m1, ldm1.toDenseMatrix());
  55
  56   Index i = internal::random<Index>(0, rows-1);
  57   Index j = internal::random<Index>(0, cols-1);
  58
  59   VERIFY_IS_APPROX( ((ldm1 * m1)(i,j))  , ldm1.diagonal()(i) * m1(i,j) );
  60   VERIFY_IS_APPROX( ((ldm1 * (m1+m2))(i,j))  , ldm1.diagonal()(i) * (m1+m2)(i,j) );
  61   VERIFY_IS_APPROX( ((m1 * rdm1)(i,j))  , rdm1.diagonal()(j) * m1(i,j) );
  62   VERIFY_IS_APPROX( ((v1.asDiagonal() * m1)(i,j))  , v1(i) * m1(i,j) );
  63   VERIFY_IS_APPROX( ((m1 * rv1.asDiagonal())(i,j))  , rv1(j) * m1(i,j) );
  64   VERIFY_IS_APPROX( (((v1+v2).asDiagonal() * m1)(i,j))  , (v1+v2)(i) * m1(i,j) );
  65   VERIFY_IS_APPROX( (((v1+v2).asDiagonal() * (m1+m2))(i,j))  , (v1+v2)(i) * (m1+m2)(i,j) );
  66   VERIFY_IS_APPROX( ((m1 * (rv1+rv2).asDiagonal())(i,j))  , (rv1+rv2)(j) * m1(i,j) );
  67   VERIFY_IS_APPROX( (((m1+m2) * (rv1+rv2).asDiagonal())(i,j))  , (rv1+rv2)(j) * (m1+m2)(i,j) );
  68
  69   if(rows>1)
  70   {
  71     DynMatrixType tmp = m1.topRows(rows/2), res;
  72     VERIFY_IS_APPROX( (res = m1.topRows(rows/2) * rv1.asDiagonal()), tmp * rv1.asDiagonal() );
  73     VERIFY_IS_APPROX( (res = v1.head(rows/2).asDiagonal()*m1.topRows(rows/2)), v1.head(rows/2).asDiagonal()*tmp );
  74   }
  75
  76   BigMatrix big;
  77   big.setZero(2*rows, 2*cols);
  78
  79   big.block(i,j,rows,cols) = m1;
  80   big.block(i,j,rows,cols) = v1.asDiagonal() * big.block(i,j,rows,cols);
  81
  82   VERIFY_IS_APPROX((big.block(i,j,rows,cols)) , v1.asDiagonal() * m1 );
  83
  84   big.block(i,j,rows,cols) = m1;
  85   big.block(i,j,rows,cols) = big.block(i,j,rows,cols) * rv1.asDiagonal();
  86   VERIFY_IS_APPROX((big.block(i,j,rows,cols)) , m1 * rv1.asDiagonal() );
  87
  88
  89   // scalar multiple
  90   VERIFY_IS_APPROX(LeftDiagonalMatrix(ldm1*s1).diagonal(), ldm1.diagonal() * s1);
  91   VERIFY_IS_APPROX(LeftDiagonalMatrix(s1*ldm1).diagonal(), s1 * ldm1.diagonal());
  92
  93   VERIFY_IS_APPROX(m1 * (rdm1 * s1), (m1 * rdm1) * s1);
  94   VERIFY_IS_APPROX(m1 * (s1 * rdm1), (m1 * rdm1) * s1);
  95
  96   // Diagonal to dense
  97   sq_m1.setRandom();
  98   sq_m2 = sq_m1;
  99   VERIFY_IS_APPROX( (sq_m1 += (s1*v1).asDiagonal()), sq_m2 += (s1*v1).asDiagonal().toDenseMatrix() );
 100   VERIFY_IS_APPROX( (sq_m1 -= (s1*v1).asDiagonal()), sq_m2 -= (s1*v1).asDiagonal().toDenseMatrix() );
 101   VERIFY_IS_APPROX( (sq_m1 = (s1*v1).asDiagonal()), (s1*v1).asDiagonal().toDenseMatrix() );
 102 }
 103
 104 template<int>
 105 void bug987()
 106 {
 107   Matrix3Xd points = Matrix3Xd::Random(3, 3);
 108   Vector2d diag = Vector2d::Random();
 109   Matrix2Xd tmp1 = points.topRows<2>(), res1, res2;
 110   VERIFY_IS_APPROX( res1 = diag.asDiagonal() * points.topRows<2>(), res2 = diag.asDiagonal() * tmp1 );
 111   Matrix2d tmp2 = points.topLeftCorner<2,2>();
 112   VERIFY_IS_APPROX(( res1 = points.topLeftCorner<2,2>()*diag.asDiagonal()) , res2 = tmp2*diag.asDiagonal() );
 113 }
 114
 115 void test_diagonalmatrices()
 116 {
 117   for(int i = 0; i < g_repeat; i++) {
 118     CALL_SUBTEST_1( diagonalmatrices(Matrix<float, 1, 1>()) );
 119     CALL_SUBTEST_2( diagonalmatrices(Matrix3f()) );
 120     CALL_SUBTEST_3( diagonalmatrices(Matrix<double,3,3,RowMajor>()) );
 121     CALL_SUBTEST_4( diagonalmatrices(Matrix4d()) );
 122     CALL_SUBTEST_5( diagonalmatrices(Matrix<float,4,4,RowMajor>()) );
 123     CALL_SUBTEST_6( diagonalmatrices(MatrixXcf(internal::random<int>(1,EIGEN_TEST_MAX_SIZE), internal::random<int>(1,EIGEN_TEST_MAX_SIZE))) );
 124     CALL_SUBTEST_7( diagonalmatrices(MatrixXi(internal::random<int>(1,EIGEN_TEST_MAX_SIZE), internal::random<int>(1,EIGEN_TEST_MAX_SIZE))) );
 125     CALL_SUBTEST_8( diagonalmatrices(Matrix<double,Dynamic,Dynamic,RowMajor>(internal::random<int>(1,EIGEN_TEST_MAX_SIZE), internal::random<int>(1,EIGEN_TEST_MAX_SIZE))) );
 126     CALL_SUBTEST_9( diagonalmatrices(MatrixXf(internal::random<int>(1,EIGEN_TEST_MAX_SIZE), internal::random<int>(1,EIGEN_TEST_MAX_SIZE))) );
 127   }
 128   CALL_SUBTEST_10( bug987<0>() );
 129 }