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

   1 // This file is part of Eigen, a lightweight C++ template library
   2 // for linear algebra.
   3 //
   4 // Copyright (C) 2008 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 #include <Eigen/StdVector>
  12 #include <Eigen/Geometry>
  13
  14 template<typename MatrixType>
  15 void check_stdvector_matrix(const MatrixType& m)
  16 {
  17   typename MatrixType::Index rows = m.rows();
  18   typename MatrixType::Index cols = m.cols();
  19   MatrixType x = MatrixType::Random(rows,cols), y = MatrixType::Random(rows,cols);
  20   std::vector<MatrixType,Eigen::aligned_allocator<MatrixType> > v(10, MatrixType(rows,cols)), w(20, y);
  21   v[5] = x;
  22   w[6] = v[5];
  23   VERIFY_IS_APPROX(w[6], v[5]);
  24   v = w;
  25   for(int i = 0; i < 20; i++)
  26   {
  27     VERIFY_IS_APPROX(w[i], v[i]);
  28   }
  29
  30   v.resize(21);
  31   v[20] = x;
  32   VERIFY_IS_APPROX(v[20], x);
  33   v.resize(22,y);
  34   VERIFY_IS_APPROX(v[21], y);
  35   v.push_back(x);
  36   VERIFY_IS_APPROX(v[22], x);
  37   VERIFY((size_t)&(v[22]) == (size_t)&(v[21]) + sizeof(MatrixType));
  38
  39   // do a lot of push_back such that the vector gets internally resized
  40   // (with memory reallocation)
  41   MatrixType* ref = &w[0];
  42   for(int i=0; i<30 || ((ref==&w[0]) && i<300); ++i)
  43     v.push_back(w[i%w.size()]);
  44   for(unsigned int i=23; i<v.size(); ++i)
  45   {
  46     VERIFY(v[i]==w[(i-23)%w.size()]);
  47   }
  48 }
  49
  50 template<typename TransformType>
  51 void check_stdvector_transform(const TransformType&)
  52 {
  53   typedef typename TransformType::MatrixType MatrixType;
  54   TransformType x(MatrixType::Random()), y(MatrixType::Random());
  55   std::vector<TransformType,Eigen::aligned_allocator<TransformType> > v(10), w(20, y);
  56   v[5] = x;
  57   w[6] = v[5];
  58   VERIFY_IS_APPROX(w[6], v[5]);
  59   v = w;
  60   for(int i = 0; i < 20; i++)
  61   {
  62     VERIFY_IS_APPROX(w[i], v[i]);
  63   }
  64
  65   v.resize(21);
  66   v[20] = x;
  67   VERIFY_IS_APPROX(v[20], x);
  68   v.resize(22,y);
  69   VERIFY_IS_APPROX(v[21], y);
  70   v.push_back(x);
  71   VERIFY_IS_APPROX(v[22], x);
  72   VERIFY((size_t)&(v[22]) == (size_t)&(v[21]) + sizeof(TransformType));
  73
  74   // do a lot of push_back such that the vector gets internally resized
  75   // (with memory reallocation)
  76   TransformType* ref = &w[0];
  77   for(int i=0; i<30 || ((ref==&w[0]) && i<300); ++i)
  78     v.push_back(w[i%w.size()]);
  79   for(unsigned int i=23; i<v.size(); ++i)
  80   {
  81     VERIFY(v[i].matrix()==w[(i-23)%w.size()].matrix());
  82   }
  83 }
  84
  85 template<typename QuaternionType>
  86 void check_stdvector_quaternion(const QuaternionType&)
  87 {
  88   typedef typename QuaternionType::Coefficients Coefficients;
  89   QuaternionType x(Coefficients::Random()), y(Coefficients::Random());
  90   std::vector<QuaternionType,Eigen::aligned_allocator<QuaternionType> > v(10), w(20, y);
  91   v[5] = x;
  92   w[6] = v[5];
  93   VERIFY_IS_APPROX(w[6], v[5]);
  94   v = w;
  95   for(int i = 0; i < 20; i++)
  96   {
  97     VERIFY_IS_APPROX(w[i], v[i]);
  98   }
  99
 100   v.resize(21);
 101   v[20] = x;
 102   VERIFY_IS_APPROX(v[20], x);
 103   v.resize(22,y);
 104   VERIFY_IS_APPROX(v[21], y);
 105   v.push_back(x);
 106   VERIFY_IS_APPROX(v[22], x);
 107   VERIFY((size_t)&(v[22]) == (size_t)&(v[21]) + sizeof(QuaternionType));
 108
 109   // do a lot of push_back such that the vector gets internally resized
 110   // (with memory reallocation)
 111   QuaternionType* ref = &w[0];
 112   for(int i=0; i<30 || ((ref==&w[0]) && i<300); ++i)
 113     v.push_back(w[i%w.size()]);
 114   for(unsigned int i=23; i<v.size(); ++i)
 115   {
 116     VERIFY(v[i].coeffs()==w[(i-23)%w.size()].coeffs());
 117   }
 118 }
 119
 120 void test_stdvector()
 121 {
 122   // some non vectorizable fixed sizes
 123   CALL_SUBTEST_1(check_stdvector_matrix(Vector2f()));
 124   CALL_SUBTEST_1(check_stdvector_matrix(Matrix3f()));
 125   CALL_SUBTEST_2(check_stdvector_matrix(Matrix3d()));
 126
 127   // some vectorizable fixed sizes
 128   CALL_SUBTEST_1(check_stdvector_matrix(Matrix2f()));
 129   CALL_SUBTEST_1(check_stdvector_matrix(Vector4f()));
 130   CALL_SUBTEST_1(check_stdvector_matrix(Matrix4f()));
 131   CALL_SUBTEST_2(check_stdvector_matrix(Matrix4d()));
 132
 133   // some dynamic sizes
 134   CALL_SUBTEST_3(check_stdvector_matrix(MatrixXd(1,1)));
 135   CALL_SUBTEST_3(check_stdvector_matrix(VectorXd(20)));
 136   CALL_SUBTEST_3(check_stdvector_matrix(RowVectorXf(20)));
 137   CALL_SUBTEST_3(check_stdvector_matrix(MatrixXcf(10,10)));
 138
 139   // some Transform
 140   CALL_SUBTEST_4(check_stdvector_transform(Projective2f()));
 141   CALL_SUBTEST_4(check_stdvector_transform(Projective3f()));
 142   CALL_SUBTEST_4(check_stdvector_transform(Projective3d()));
 143   //CALL_SUBTEST(heck_stdvector_transform(Projective4d()));
 144
 145   // some Quaternion
 146   CALL_SUBTEST_5(check_stdvector_quaternion(Quaternionf()));
 147   CALL_SUBTEST_5(check_stdvector_quaternion(Quaterniond()));
 148 }