source: pacpussensors/trunk/Vislab/lib3dv-1.2.0/lib3dv/eigen/test/main.h@ 148

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1// This file is part of Eigen, a lightweight C++ template library
2// for linear algebra.
3//
4// Copyright (C) 2006-2008 Benoit Jacob <jacob.benoit.1@gmail.com>
5// Copyright (C) 2008 Gael Guennebaud <gael.guennebaud@inria.fr>
6//
7// This Source Code Form is subject to the terms of the Mozilla
8// Public License v. 2.0. If a copy of the MPL was not distributed
9// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
10
11#include <cstdlib>
12#include <cerrno>
13#include <ctime>
14#include <iostream>
15#include <fstream>
16#include <string>
17#include <sstream>
18#include <vector>
19#include <typeinfo>
20
21// The following includes of STL headers have to be done _before_ the
22// definition of macros min() and max(). The reason is that many STL
23// implementations will not work properly as the min and max symbols collide
24// with the STL functions std:min() and std::max(). The STL headers may check
25// for the macro definition of min/max and issue a warning or undefine the
26// macros.
27//
28// Still, Windows defines min() and max() in windef.h as part of the regular
29// Windows system interfaces and many other Windows APIs depend on these
30// macros being available. To prevent the macro expansion of min/max and to
31// make Eigen compatible with the Windows environment all function calls of
32// std::min() and std::max() have to be written with parenthesis around the
33// function name.
34//
35// All STL headers used by Eigen should be included here. Because main.h is
36// included before any Eigen header and because the STL headers are guarded
37// against multiple inclusions, no STL header will see our own min/max macro
38// definitions.
39#include <limits>
40#include <algorithm>
41#include <complex>
42#include <deque>
43#include <queue>
44#include <list>
45
46// To test that all calls from Eigen code to std::min() and std::max() are
47// protected by parenthesis against macro expansion, the min()/max() macros
48// are defined here and any not-parenthesized min/max call will cause a
49// compiler error.
50#define min(A,B) please_protect_your_min_with_parentheses
51#define max(A,B) please_protect_your_max_with_parentheses
52
53#define FORBIDDEN_IDENTIFIER (this_identifier_is_forbidden_to_avoid_clashes) this_identifier_is_forbidden_to_avoid_clashes
54// B0 is defined in POSIX header termios.h
55#define B0 FORBIDDEN_IDENTIFIER
56
57
58// shuts down ICC's remark #593: variable "XXX" was set but never used
59#define TEST_SET_BUT_UNUSED_VARIABLE(X) X = X + 0;
60
61// the following file is automatically generated by cmake
62#include "split_test_helper.h"
63
64#ifdef NDEBUG
65#undef NDEBUG
66#endif
67
68// On windows CE, NDEBUG is automatically defined <assert.h> if NDEBUG is not defined.
69#ifndef DEBUG
70#define DEBUG
71#endif
72
73// bounds integer values for AltiVec
74#ifdef __ALTIVEC__
75#define EIGEN_MAKING_DOCS
76#endif
77
78#ifndef EIGEN_TEST_FUNC
79#error EIGEN_TEST_FUNC must be defined
80#endif
81
82#define DEFAULT_REPEAT 10
83
84namespace Eigen
85{
86 static std::vector<std::string> g_test_stack;
87 static int g_repeat;
88 static unsigned int g_seed;
89 static bool g_has_set_repeat, g_has_set_seed;
90}
91
92#define EI_PP_MAKE_STRING2(S) #S
93#define EI_PP_MAKE_STRING(S) EI_PP_MAKE_STRING2(S)
94
95#define EIGEN_DEFAULT_IO_FORMAT IOFormat(4, 0, " ", "\n", "", "", "", "")
96
97#ifndef EIGEN_NO_ASSERTION_CHECKING
98
99 namespace Eigen
100 {
101 static const bool should_raise_an_assert = false;
102
103 // Used to avoid to raise two exceptions at a time in which
104 // case the exception is not properly caught.
105 // This may happen when a second exceptions is triggered in a destructor.
106 static bool no_more_assert = false;
107 static bool report_on_cerr_on_assert_failure = true;
108
109 struct eigen_assert_exception
110 {
111 eigen_assert_exception(void) {}
112 ~eigen_assert_exception() { Eigen::no_more_assert = false; }
113 };
114 }
115 // If EIGEN_DEBUG_ASSERTS is defined and if no assertion is triggered while
116 // one should have been, then the list of excecuted assertions is printed out.
117 //
118 // EIGEN_DEBUG_ASSERTS is not enabled by default as it
119 // significantly increases the compilation time
120 // and might even introduce side effects that would hide
121 // some memory errors.
122 #ifdef EIGEN_DEBUG_ASSERTS
123
124 namespace Eigen
125 {
126 namespace internal
127 {
128 static bool push_assert = false;
129 }
130 static std::vector<std::string> eigen_assert_list;
131 }
132 #define eigen_assert(a) \
133 if( (!(a)) && (!no_more_assert) ) \
134 { \
135 if(report_on_cerr_on_assert_failure) \
136 std::cerr << #a << " " __FILE__ << "(" << __LINE__ << ")\n"; \
137 Eigen::no_more_assert = true; \
138 throw Eigen::eigen_assert_exception(); \
139 } \
140 else if (Eigen::internal::push_assert) \
141 { \
142 eigen_assert_list.push_back(std::string(EI_PP_MAKE_STRING(__FILE__) " (" EI_PP_MAKE_STRING(__LINE__) ") : " #a) ); \
143 }
144
145 #define VERIFY_RAISES_ASSERT(a) \
146 { \
147 Eigen::no_more_assert = false; \
148 Eigen::eigen_assert_list.clear(); \
149 Eigen::internal::push_assert = true; \
150 Eigen::report_on_cerr_on_assert_failure = false; \
151 try { \
152 a; \
153 std::cerr << "One of the following asserts should have been triggered:\n"; \
154 for (uint ai=0 ; ai<eigen_assert_list.size() ; ++ai) \
155 std::cerr << " " << eigen_assert_list[ai] << "\n"; \
156 VERIFY(Eigen::should_raise_an_assert && # a); \
157 } catch (Eigen::eigen_assert_exception) { \
158 Eigen::internal::push_assert = false; VERIFY(true); \
159 } \
160 Eigen::report_on_cerr_on_assert_failure = true; \
161 Eigen::internal::push_assert = false; \
162 }
163
164 #else // EIGEN_DEBUG_ASSERTS
165 // see bug 89. The copy_bool here is working around a bug in gcc <= 4.3
166 #define eigen_assert(a) \
167 if( (!Eigen::internal::copy_bool(a)) && (!no_more_assert) )\
168 { \
169 Eigen::no_more_assert = true; \
170 if(report_on_cerr_on_assert_failure) \
171 eigen_plain_assert(a); \
172 else \
173 throw Eigen::eigen_assert_exception(); \
174 }
175 #define VERIFY_RAISES_ASSERT(a) { \
176 Eigen::no_more_assert = false; \
177 Eigen::report_on_cerr_on_assert_failure = false; \
178 try { \
179 a; \
180 VERIFY(Eigen::should_raise_an_assert && # a); \
181 } \
182 catch (Eigen::eigen_assert_exception&) { VERIFY(true); } \
183 Eigen::report_on_cerr_on_assert_failure = true; \
184 }
185
186 #endif // EIGEN_DEBUG_ASSERTS
187
188 #define EIGEN_USE_CUSTOM_ASSERT
189
190#else // EIGEN_NO_ASSERTION_CHECKING
191
192 #define VERIFY_RAISES_ASSERT(a) {}
193
194#endif // EIGEN_NO_ASSERTION_CHECKING
195
196
197#define EIGEN_INTERNAL_DEBUGGING
198#include <Eigen/QR> // required for createRandomPIMatrixOfRank
199
200inline void verify_impl(bool condition, const char *testname, const char *file, int line, const char *condition_as_string)
201{
202 if (!condition)
203 {
204 std::cerr << "Test " << testname << " failed in " << file << " (" << line << ")"
205 << std::endl << " " << condition_as_string << std::endl;
206 std::cerr << "Stack:\n";
207 const int test_stack_size = static_cast<int>(Eigen::g_test_stack.size());
208 for(int i=test_stack_size-1; i>=0; --i)
209 std::cerr << " - " << Eigen::g_test_stack[i] << "\n";
210 std::cerr << "\n";
211 abort();
212 }
213}
214
215#define VERIFY(a) ::verify_impl(a, g_test_stack.back().c_str(), __FILE__, __LINE__, EI_PP_MAKE_STRING(a))
216
217#define VERIFY_IS_EQUAL(a, b) VERIFY(test_is_equal(a, b))
218#define VERIFY_IS_APPROX(a, b) VERIFY(test_isApprox(a, b))
219#define VERIFY_IS_NOT_APPROX(a, b) VERIFY(!test_isApprox(a, b))
220#define VERIFY_IS_MUCH_SMALLER_THAN(a, b) VERIFY(test_isMuchSmallerThan(a, b))
221#define VERIFY_IS_NOT_MUCH_SMALLER_THAN(a, b) VERIFY(!test_isMuchSmallerThan(a, b))
222#define VERIFY_IS_APPROX_OR_LESS_THAN(a, b) VERIFY(test_isApproxOrLessThan(a, b))
223#define VERIFY_IS_NOT_APPROX_OR_LESS_THAN(a, b) VERIFY(!test_isApproxOrLessThan(a, b))
224
225#define VERIFY_IS_UNITARY(a) VERIFY(test_isUnitary(a))
226
227#define CALL_SUBTEST(FUNC) do { \
228 g_test_stack.push_back(EI_PP_MAKE_STRING(FUNC)); \
229 FUNC; \
230 g_test_stack.pop_back(); \
231 } while (0)
232
233
234namespace Eigen {
235
236template<typename T> inline typename NumTraits<T>::Real test_precision() { return NumTraits<T>::dummy_precision(); }
237template<> inline float test_precision<float>() { return 1e-3f; }
238template<> inline double test_precision<double>() { return 1e-6; }
239template<> inline float test_precision<std::complex<float> >() { return test_precision<float>(); }
240template<> inline double test_precision<std::complex<double> >() { return test_precision<double>(); }
241template<> inline long double test_precision<long double>() { return 1e-6; }
242
243inline bool test_isApprox(const int& a, const int& b)
244{ return internal::isApprox(a, b, test_precision<int>()); }
245inline bool test_isMuchSmallerThan(const int& a, const int& b)
246{ return internal::isMuchSmallerThan(a, b, test_precision<int>()); }
247inline bool test_isApproxOrLessThan(const int& a, const int& b)
248{ return internal::isApproxOrLessThan(a, b, test_precision<int>()); }
249
250inline bool test_isApprox(const float& a, const float& b)
251{ return internal::isApprox(a, b, test_precision<float>()); }
252inline bool test_isMuchSmallerThan(const float& a, const float& b)
253{ return internal::isMuchSmallerThan(a, b, test_precision<float>()); }
254inline bool test_isApproxOrLessThan(const float& a, const float& b)
255{ return internal::isApproxOrLessThan(a, b, test_precision<float>()); }
256inline bool test_isApprox(const double& a, const double& b)
257{ return internal::isApprox(a, b, test_precision<double>()); }
258
259inline bool test_isMuchSmallerThan(const double& a, const double& b)
260{ return internal::isMuchSmallerThan(a, b, test_precision<double>()); }
261inline bool test_isApproxOrLessThan(const double& a, const double& b)
262{ return internal::isApproxOrLessThan(a, b, test_precision<double>()); }
263
264inline bool test_isApprox(const std::complex<float>& a, const std::complex<float>& b)
265{ return internal::isApprox(a, b, test_precision<std::complex<float> >()); }
266inline bool test_isMuchSmallerThan(const std::complex<float>& a, const std::complex<float>& b)
267{ return internal::isMuchSmallerThan(a, b, test_precision<std::complex<float> >()); }
268
269inline bool test_isApprox(const std::complex<double>& a, const std::complex<double>& b)
270{ return internal::isApprox(a, b, test_precision<std::complex<double> >()); }
271inline bool test_isMuchSmallerThan(const std::complex<double>& a, const std::complex<double>& b)
272{ return internal::isMuchSmallerThan(a, b, test_precision<std::complex<double> >()); }
273
274inline bool test_isApprox(const long double& a, const long double& b)
275{
276 bool ret = internal::isApprox(a, b, test_precision<long double>());
277 if (!ret) std::cerr
278 << std::endl << " actual = " << a
279 << std::endl << " expected = " << b << std::endl << std::endl;
280 return ret;
281}
282
283inline bool test_isMuchSmallerThan(const long double& a, const long double& b)
284{ return internal::isMuchSmallerThan(a, b, test_precision<long double>()); }
285inline bool test_isApproxOrLessThan(const long double& a, const long double& b)
286{ return internal::isApproxOrLessThan(a, b, test_precision<long double>()); }
287
288template<typename Type1, typename Type2>
289inline bool test_isApprox(const Type1& a, const Type2& b)
290{
291 return a.isApprox(b, test_precision<typename Type1::Scalar>());
292}
293
294// The idea behind this function is to compare the two scalars a and b where
295// the scalar ref is a hint about the expected order of magnitude of a and b.
296// WARNING: the scalar a and b must be positive
297// Therefore, if for some reason a and b are very small compared to ref,
298// we won't issue a false negative.
299// This test could be: abs(a-b) <= eps * ref
300// However, it seems that simply comparing a+ref and b+ref is more sensitive to true error.
301template<typename Scalar,typename ScalarRef>
302inline bool test_isApproxWithRef(const Scalar& a, const Scalar& b, const ScalarRef& ref)
303{
304 return test_isApprox(a+ref, b+ref);
305}
306
307template<typename Derived1, typename Derived2>
308inline bool test_isMuchSmallerThan(const MatrixBase<Derived1>& m1,
309 const MatrixBase<Derived2>& m2)
310{
311 return m1.isMuchSmallerThan(m2, test_precision<typename internal::traits<Derived1>::Scalar>());
312}
313
314template<typename Derived>
315inline bool test_isMuchSmallerThan(const MatrixBase<Derived>& m,
316 const typename NumTraits<typename internal::traits<Derived>::Scalar>::Real& s)
317{
318 return m.isMuchSmallerThan(s, test_precision<typename internal::traits<Derived>::Scalar>());
319}
320
321template<typename Derived>
322inline bool test_isUnitary(const MatrixBase<Derived>& m)
323{
324 return m.isUnitary(test_precision<typename internal::traits<Derived>::Scalar>());
325}
326
327// Forward declaration to avoid ICC warning
328template<typename T, typename U>
329bool test_is_equal(const T& actual, const U& expected);
330
331template<typename T, typename U>
332bool test_is_equal(const T& actual, const U& expected)
333{
334 if (actual==expected)
335 return true;
336 // false:
337 std::cerr
338 << std::endl << " actual = " << actual
339 << std::endl << " expected = " << expected << std::endl << std::endl;
340 return false;
341}
342
343/** Creates a random Partial Isometry matrix of given rank.
344 *
345 * A partial isometry is a matrix all of whose singular values are either 0 or 1.
346 * This is very useful to test rank-revealing algorithms.
347 */
348// Forward declaration to avoid ICC warning
349template<typename MatrixType>
350void createRandomPIMatrixOfRank(typename MatrixType::Index desired_rank, typename MatrixType::Index rows, typename MatrixType::Index cols, MatrixType& m);
351template<typename MatrixType>
352void createRandomPIMatrixOfRank(typename MatrixType::Index desired_rank, typename MatrixType::Index rows, typename MatrixType::Index cols, MatrixType& m)
353{
354 typedef typename internal::traits<MatrixType>::Index Index;
355 typedef typename internal::traits<MatrixType>::Scalar Scalar;
356 enum { Rows = MatrixType::RowsAtCompileTime, Cols = MatrixType::ColsAtCompileTime };
357
358 typedef Matrix<Scalar, Dynamic, 1> VectorType;
359 typedef Matrix<Scalar, Rows, Rows> MatrixAType;
360 typedef Matrix<Scalar, Cols, Cols> MatrixBType;
361
362 if(desired_rank == 0)
363 {
364 m.setZero(rows,cols);
365 return;
366 }
367
368 if(desired_rank == 1)
369 {
370 // here we normalize the vectors to get a partial isometry
371 m = VectorType::Random(rows).normalized() * VectorType::Random(cols).normalized().transpose();
372 return;
373 }
374
375 MatrixAType a = MatrixAType::Random(rows,rows);
376 MatrixType d = MatrixType::Identity(rows,cols);
377 MatrixBType b = MatrixBType::Random(cols,cols);
378
379 // set the diagonal such that only desired_rank non-zero entries reamain
380 const Index diag_size = (std::min)(d.rows(),d.cols());
381 if(diag_size != desired_rank)
382 d.diagonal().segment(desired_rank, diag_size-desired_rank) = VectorType::Zero(diag_size-desired_rank);
383
384 HouseholderQR<MatrixAType> qra(a);
385 HouseholderQR<MatrixBType> qrb(b);
386 m = qra.householderQ() * d * qrb.householderQ();
387}
388
389// Forward declaration to avoid ICC warning
390template<typename PermutationVectorType>
391void randomPermutationVector(PermutationVectorType& v, typename PermutationVectorType::Index size);
392template<typename PermutationVectorType>
393void randomPermutationVector(PermutationVectorType& v, typename PermutationVectorType::Index size)
394{
395 typedef typename PermutationVectorType::Index Index;
396 typedef typename PermutationVectorType::Scalar Scalar;
397 v.resize(size);
398 for(Index i = 0; i < size; ++i) v(i) = Scalar(i);
399 if(size == 1) return;
400 for(Index n = 0; n < 3 * size; ++n)
401 {
402 Index i = internal::random<Index>(0, size-1);
403 Index j;
404 do j = internal::random<Index>(0, size-1); while(j==i);
405 std::swap(v(i), v(j));
406 }
407}
408
409template<typename T> bool isNotNaN(const T& x)
410{
411 return x==x;
412}
413
414template<typename T> bool isNaN(const T& x)
415{
416 return x!=x;
417}
418
419template<typename T> bool isInf(const T& x)
420{
421 return x > NumTraits<T>::highest();
422}
423
424template<typename T> bool isMinusInf(const T& x)
425{
426 return x < NumTraits<T>::lowest();
427}
428
429} // end namespace Eigen
430
431template<typename T> struct GetDifferentType;
432
433template<> struct GetDifferentType<float> { typedef double type; };
434template<> struct GetDifferentType<double> { typedef float type; };
435template<typename T> struct GetDifferentType<std::complex<T> >
436{ typedef std::complex<typename GetDifferentType<T>::type> type; };
437
438// Forward declaration to avoid ICC warning
439template<typename T> std::string type_name();
440template<typename T> std::string type_name() { return "other"; }
441template<> std::string type_name<float>() { return "float"; }
442template<> std::string type_name<double>() { return "double"; }
443template<> std::string type_name<int>() { return "int"; }
444template<> std::string type_name<std::complex<float> >() { return "complex<float>"; }
445template<> std::string type_name<std::complex<double> >() { return "complex<double>"; }
446template<> std::string type_name<std::complex<int> >() { return "complex<int>"; }
447
448// forward declaration of the main test function
449void EIGEN_CAT(test_,EIGEN_TEST_FUNC)();
450
451using namespace Eigen;
452
453inline void set_repeat_from_string(const char *str)
454{
455 errno = 0;
456 g_repeat = int(strtoul(str, 0, 10));
457 if(errno || g_repeat <= 0)
458 {
459 std::cout << "Invalid repeat value " << str << std::endl;
460 exit(EXIT_FAILURE);
461 }
462 g_has_set_repeat = true;
463}
464
465inline void set_seed_from_string(const char *str)
466{
467 errno = 0;
468 g_seed = int(strtoul(str, 0, 10));
469 if(errno || g_seed == 0)
470 {
471 std::cout << "Invalid seed value " << str << std::endl;
472 exit(EXIT_FAILURE);
473 }
474 g_has_set_seed = true;
475}
476
477int main(int argc, char *argv[])
478{
479 g_has_set_repeat = false;
480 g_has_set_seed = false;
481 bool need_help = false;
482
483 for(int i = 1; i < argc; i++)
484 {
485 if(argv[i][0] == 'r')
486 {
487 if(g_has_set_repeat)
488 {
489 std::cout << "Argument " << argv[i] << " conflicting with a former argument" << std::endl;
490 return 1;
491 }
492 set_repeat_from_string(argv[i]+1);
493 }
494 else if(argv[i][0] == 's')
495 {
496 if(g_has_set_seed)
497 {
498 std::cout << "Argument " << argv[i] << " conflicting with a former argument" << std::endl;
499 return 1;
500 }
501 set_seed_from_string(argv[i]+1);
502 }
503 else
504 {
505 need_help = true;
506 }
507 }
508
509 if(need_help)
510 {
511 std::cout << "This test application takes the following optional arguments:" << std::endl;
512 std::cout << " rN Repeat each test N times (default: " << DEFAULT_REPEAT << ")" << std::endl;
513 std::cout << " sN Use N as seed for random numbers (default: based on current time)" << std::endl;
514 std::cout << std::endl;
515 std::cout << "If defined, the environment variables EIGEN_REPEAT and EIGEN_SEED" << std::endl;
516 std::cout << "will be used as default values for these parameters." << std::endl;
517 return 1;
518 }
519
520 char *env_EIGEN_REPEAT = getenv("EIGEN_REPEAT");
521 if(!g_has_set_repeat && env_EIGEN_REPEAT)
522 set_repeat_from_string(env_EIGEN_REPEAT);
523 char *env_EIGEN_SEED = getenv("EIGEN_SEED");
524 if(!g_has_set_seed && env_EIGEN_SEED)
525 set_seed_from_string(env_EIGEN_SEED);
526
527 if(!g_has_set_seed) g_seed = (unsigned int) time(NULL);
528 if(!g_has_set_repeat) g_repeat = DEFAULT_REPEAT;
529
530 std::cout << "Initializing random number generator with seed " << g_seed << std::endl;
531 std::stringstream ss;
532 ss << "Seed: " << g_seed;
533 g_test_stack.push_back(ss.str());
534 srand(g_seed);
535 std::cout << "Repeating each test " << g_repeat << " times" << std::endl;
536
537 Eigen::g_test_stack.push_back(std::string(EI_PP_MAKE_STRING(EIGEN_TEST_FUNC)));
538
539 EIGEN_CAT(test_,EIGEN_TEST_FUNC)();
540 return 0;
541}
542
543// These warning are disabled here such that they are still ON when parsing Eigen's header files.
544#if defined __INTEL_COMPILER
545 // remark #383: value copied to temporary, reference to temporary used
546 // -> this warning is raised even for legal usage as: g_test_stack.push_back("foo"); where g_test_stack is a std::vector<std::string>
547 // remark #1418: external function definition with no prior declaration
548 // -> this warning is raised for all our test functions. Declaring them static would fix the issue.
549 // warning #279: controlling expression is constant
550 // remark #1572: floating-point equality and inequality comparisons are unreliable
551 #pragma warning disable 279 383 1418 1572
552#endif
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