source: pacpussensors/trunk/Vislab/lib3dv-1.2.0/lib3dv/eigen/test/prec_inverse_4x4.cpp

Last change on this file was 136, checked in by ldecherf, 8 years ago

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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#include <Eigen/LU>
12#include <algorithm>
13
14template<typename MatrixType> void inverse_permutation_4x4()
15{
16 typedef typename MatrixType::Scalar Scalar;
17 Vector4i indices(0,1,2,3);
18 for(int i = 0; i < 24; ++i)
19 {
20 MatrixType m = PermutationMatrix<4>(indices);
21 MatrixType inv = m.inverse();
22 double error = double( (m*inv-MatrixType::Identity()).norm() / NumTraits<Scalar>::epsilon() );
23 EIGEN_DEBUG_VAR(error)
24 VERIFY(error == 0.0);
25 std::next_permutation(indices.data(),indices.data()+4);
26 }
27}
28
29template<typename MatrixType> void inverse_general_4x4(int repeat)
30{
31 using std::abs;
32 typedef typename MatrixType::Scalar Scalar;
33 typedef typename MatrixType::RealScalar RealScalar;
34 double error_sum = 0., error_max = 0.;
35 for(int i = 0; i < repeat; ++i)
36 {
37 MatrixType m;
38 RealScalar absdet;
39 do {
40 m = MatrixType::Random();
41 absdet = abs(m.determinant());
42 } while(absdet < NumTraits<Scalar>::epsilon());
43 MatrixType inv = m.inverse();
44 double error = double( (m*inv-MatrixType::Identity()).norm() * absdet / NumTraits<Scalar>::epsilon() );
45 error_sum += error;
46 error_max = (std::max)(error_max, error);
47 }
48 std::cerr << "inverse_general_4x4, Scalar = " << type_name<Scalar>() << std::endl;
49 double error_avg = error_sum / repeat;
50 EIGEN_DEBUG_VAR(error_avg);
51 EIGEN_DEBUG_VAR(error_max);
52 // FIXME that 1.25 used to be a 1.0 until the NumTraits changes on 28 April 2010, what's going wrong??
53 // FIXME that 1.25 used to be 1.2 until we tested gcc 4.1 on 30 June 2010 and got 1.21.
54 VERIFY(error_avg < (NumTraits<Scalar>::IsComplex ? 8.0 : 1.25));
55 VERIFY(error_max < (NumTraits<Scalar>::IsComplex ? 64.0 : 20.0));
56}
57
58void test_prec_inverse_4x4()
59{
60 CALL_SUBTEST_1((inverse_permutation_4x4<Matrix4f>()));
61 CALL_SUBTEST_1(( inverse_general_4x4<Matrix4f>(200000 * g_repeat) ));
62
63 CALL_SUBTEST_2((inverse_permutation_4x4<Matrix<double,4,4,RowMajor> >()));
64 CALL_SUBTEST_2(( inverse_general_4x4<Matrix<double,4,4,RowMajor> >(200000 * g_repeat) ));
65
66 CALL_SUBTEST_3((inverse_permutation_4x4<Matrix4cf>()));
67 CALL_SUBTEST_3((inverse_general_4x4<Matrix4cf>(50000 * g_repeat)));
68}
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