1 | // This file is part of Eigen, a lightweight C++ template library
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2 | // for linear algebra.
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3 | //
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4 | // Copyright (C) 2009 Benoit Jacob <jacob.benoit.1@gmail.com>
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5 | //
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6 | // This Source Code Form is subject to the terms of the Mozilla
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7 | // Public License v. 2.0. If a copy of the MPL was not distributed
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8 | // with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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9 |
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10 | #include "main.h"
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11 | #include <Eigen/LU>
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12 | #include <algorithm>
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13 |
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14 | template<typename T> std::string type_name() { return "other"; }
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15 | template<> std::string type_name<float>() { return "float"; }
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16 | template<> std::string type_name<double>() { return "double"; }
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17 | template<> std::string type_name<int>() { return "int"; }
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18 | template<> std::string type_name<std::complex<float> >() { return "complex<float>"; }
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19 | template<> std::string type_name<std::complex<double> >() { return "complex<double>"; }
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20 | template<> std::string type_name<std::complex<int> >() { return "complex<int>"; }
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21 |
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22 | #define EIGEN_DEBUG_VAR(x) std::cerr << #x << " = " << x << std::endl;
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23 |
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24 | template<typename T> inline typename NumTraits<T>::Real epsilon()
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25 | {
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26 | return std::numeric_limits<typename NumTraits<T>::Real>::epsilon();
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27 | }
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28 |
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29 | template<typename MatrixType> void inverse_permutation_4x4()
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30 | {
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31 | typedef typename MatrixType::Scalar Scalar;
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32 | typedef typename MatrixType::RealScalar RealScalar;
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33 | Vector4i indices(0,1,2,3);
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34 | for(int i = 0; i < 24; ++i)
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35 | {
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36 | MatrixType m = MatrixType::Zero();
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37 | m(indices(0),0) = 1;
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38 | m(indices(1),1) = 1;
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39 | m(indices(2),2) = 1;
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40 | m(indices(3),3) = 1;
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41 | MatrixType inv = m.inverse();
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42 | double error = double( (m*inv-MatrixType::Identity()).norm() / epsilon<Scalar>() );
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43 | VERIFY(error == 0.0);
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44 | std::next_permutation(indices.data(),indices.data()+4);
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45 | }
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46 | }
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47 |
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48 | template<typename MatrixType> void inverse_general_4x4(int repeat)
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49 | {
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50 | typedef typename MatrixType::Scalar Scalar;
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51 | typedef typename MatrixType::RealScalar RealScalar;
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52 | double error_sum = 0., error_max = 0.;
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53 | for(int i = 0; i < repeat; ++i)
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54 | {
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55 | MatrixType m;
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56 | RealScalar absdet;
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57 | do {
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58 | m = MatrixType::Random();
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59 | absdet = ei_abs(m.determinant());
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60 | } while(absdet < 10 * epsilon<Scalar>());
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61 | MatrixType inv = m.inverse();
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62 | double error = double( (m*inv-MatrixType::Identity()).norm() * absdet / epsilon<Scalar>() );
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63 | error_sum += error;
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64 | error_max = std::max(error_max, error);
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65 | }
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66 | std::cerr << "inverse_general_4x4, Scalar = " << type_name<Scalar>() << std::endl;
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67 | double error_avg = error_sum / repeat;
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68 | EIGEN_DEBUG_VAR(error_avg);
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69 | EIGEN_DEBUG_VAR(error_max);
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70 | VERIFY(error_avg < (NumTraits<Scalar>::IsComplex ? 8.0 : 1.25));
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71 | VERIFY(error_max < (NumTraits<Scalar>::IsComplex ? 64.0 : 20.0));
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72 | }
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73 |
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74 | void test_eigen2_prec_inverse_4x4()
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75 | {
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76 | CALL_SUBTEST_1((inverse_permutation_4x4<Matrix4f>()));
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77 | CALL_SUBTEST_1(( inverse_general_4x4<Matrix4f>(200000 * g_repeat) ));
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78 |
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79 | CALL_SUBTEST_2((inverse_permutation_4x4<Matrix<double,4,4,RowMajor> >()));
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80 | CALL_SUBTEST_2(( inverse_general_4x4<Matrix<double,4,4,RowMajor> >(200000 * g_repeat) ));
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81 |
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82 | CALL_SUBTEST_3((inverse_permutation_4x4<Matrix4cf>()));
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83 | CALL_SUBTEST_3((inverse_general_4x4<Matrix4cf>(50000 * g_repeat)));
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84 | }
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