/// \brief Exp: se3 -> SE3.
///
/// Return the integral of the input spatial velocity during time 1.
template <typename _Scalar, int _Options> SE3Tpl<_Scalar, _Options>
exp6(const MotionTpl<_Scalar,_Options> & nu)
{
typedef _Scalar Scalar;
typedef typename MotionTpl<Scalar,_Options>::Vector3 Vector3;
typedef typename MotionTpl<Scalar,_Options>::Matrix3 Matrix3;
const Vector3 & w = nu.angular();
const Vector3 & v = nu.linear();
Scalar t = w.norm();
if (t > 1e-15)
{
Matrix3 R(exp3(w));
Matrix3 S(skew(w));
double ct,st; SINCOS (t,&st,&ct);
Matrix3 V(
Matrix3::Identity() +
(1 - ct) / (t * t) * S + (t - st) / (t * t * t) * S * S);
Vector3 p(V * v);
return SE3Tpl<_Scalar, _Options>(R, p);
}
else
{
return SE3Tpl<_Scalar, _Options>(Matrix3::Identity(), v);
}
}
void eval_special_columns()
{
QTest::addColumn<QString>( "string" );
QTest::addColumn<QVariant>( "result" );
QgsExpression::setSpecialColumn( "$var1", QVariant(( int )42 ) );
QgsExpression exp( "$var1 + 1" );
QVariant v1 = exp.evaluate();
QCOMPARE( v1.toInt(), 43 );
QgsExpression::setSpecialColumn( "$var1", QVariant(( int )100 ) );
QVariant v2 = exp.evaluate();
QCOMPARE( v2.toInt(), 101 );
QgsExpression exp2( "_specialcol_('$var1')+1" );
QVariant v3 = exp2.evaluate();
QCOMPARE( v3.toInt(), 101 );
QgsExpression exp3( "_specialcol_('undefined')" );
QVariant v4 = exp3.evaluate();
QCOMPARE( v4, QVariant() );
QgsExpression::unsetSpecialColumn( "$var1" );
}
static bool longValidator(const QString str, double & val)
{
QStringList myList;
QRegExp exp1("^[oOwWeElL][ ]\\d\\d?\\d?[ ]?\\d\\d?[ ]?\\d?\\d?\\.?[0-9]?" );
QRegExp exp2("^[oOwWeElL][;]\\d\\d?\\d?[;]?\\d\\d?[;]?\\d?\\d?\\.?[0-9]?" );
QRegExp exp3("^[oOwWeElL][:]\\d\\d?\\d?[:]?\\d\\d?[:]?\\d?\\d?\\.?[0-9]?" );
QRegExp exp4("^[+-]?\\d\\d?\\d?\\.?[0-9]*" );
double grauDec;
if ( exp1.exactMatch( str ) )
{
myList = str.split(" ");
}
else if ( exp2.exactMatch( str ) )
{
myList = str.split(";");
}
else if ( exp3.exactMatch( str ) )
{
myList = str.split(":");
}
else if ( exp4.exactMatch( str ) )
{
grauDec = str.toDouble();
if ((grauDec >= -180.0 && grauDec <=180.0))
{
val = grauDec * TeCDR;
return true;
}
else
return false;
}
else
return false;
int nelementos = myList.count();
short graus, minutos = 0;
float segundos = 0.0;
graus = myList[1].toShort();
if (nelementos > 2)
minutos = myList[2].toShort();
if (nelementos > 3)
segundos = myList[3].toFloat();
if (TeLongDMS2DD(myList[0].at(0).toAscii(),graus, minutos, segundos, grauDec))
{
val = grauDec * TeCDR;
return true;
}
else
return false;
}
void eval_randf()
{
QgsExpression exp1( "randf(1.5,9.5)" );
QVariant v1 = exp1.evaluate();
QCOMPARE( v1.toDouble() <= 9.5, true );
QCOMPARE( v1.toDouble() >= 1.5, true );
QgsExpression exp2( "randf(-0.0005,-0.0005)" );
QVariant v2 = exp2.evaluate();
QCOMPARE( v2.toDouble(), -0.0005 );
// Invalid expression since max<min
QgsExpression exp3( "randf(9.3333,1.784)" );
QVariant v3 = exp3.evaluate();
QCOMPARE( v3.type(), QVariant::Invalid );
}
void eval_rand()
{
QgsExpression exp1( "rand(1,10)" );
QVariant v1 = exp1.evaluate();
QCOMPARE( v1.toInt() <= 10, true );
QCOMPARE( v1.toInt() >= 1, true );
QgsExpression exp2( "rand(-5,-5)" );
QVariant v2 = exp2.evaluate();
QCOMPARE( v2.toInt(), -5 );
// Invalid expression since max<min
QgsExpression exp3( "rand(10,1)" );
QVariant v3 = exp3.evaluate();
QCOMPARE( v3.type(), QVariant::Invalid );
}
void eval_geometry_calc()
{
QgsPolyline polyline, polygon_ring;
polyline << QgsPoint( 0, 0 ) << QgsPoint( 10, 0 );
polygon_ring << QgsPoint( 2, 1 ) << QgsPoint( 10, 1 ) << QgsPoint( 10, 6 ) << QgsPoint( 2, 6 ) << QgsPoint( 2, 1 );
QgsPolygon polygon;
polygon << polygon_ring;
QgsFeature fPolygon, fPolyline;
fPolyline.setGeometry( QgsGeometry::fromPolyline( polyline ) );
fPolygon.setGeometry( QgsGeometry::fromPolygon( polygon ) );
QgsExpression exp1( "$area" );
QVariant vArea = exp1.evaluate( &fPolygon );
QCOMPARE( vArea.toDouble(), 40. );
QgsExpression exp2( "$length" );
QVariant vLength = exp2.evaluate( &fPolyline );
QCOMPARE( vLength.toDouble(), 10. );
QgsExpression exp3( "$perimeter" );
QVariant vPerimeter = exp3.evaluate( &fPolygon );
QCOMPARE( vPerimeter.toDouble(), 26. );
QgsExpression exp4( "bounds_width($geometry)" );
QVariant vBoundsWidth = exp4.evaluate( &fPolygon );
QCOMPARE( vBoundsWidth.toDouble(), 8.0 );
QgsExpression exp5( "bounds_height($geometry)" );
QVariant vBoundsHeight = exp5.evaluate( &fPolygon );
QCOMPARE( vBoundsHeight.toDouble(), 5.0 );
QgsExpression exp6( "xmin($geometry)" );
QVariant vXMin = exp6.evaluate( &fPolygon );
QCOMPARE( vXMin.toDouble(), 2.0 );
QgsExpression exp7( "xmax($geometry)" );
QVariant vXMax = exp7.evaluate( &fPolygon );
QCOMPARE( vXMax.toDouble(), 10.0 );
QgsExpression exp8( "ymin($geometry)" );
QVariant vYMin = exp8.evaluate( &fPolygon );
QCOMPARE( vYMin.toDouble(), 1.0 );
QgsExpression exp9( "ymax($geometry)" );
QVariant vYMax = exp9.evaluate( &fPolygon );
QCOMPARE( vYMax.toDouble(), 6.0 );
}
bool IfcGeom::is_convex(const TopoDS_Wire& wire) {
for ( TopExp_Explorer exp1(wire,TopAbs_VERTEX); exp1.More(); exp1.Next() ) {
TopoDS_Vertex V1 = TopoDS::Vertex(exp1.Current());
gp_Pnt P1 = BRep_Tool::Pnt(V1);
// Store the neighboring points
std::vector<gp_Pnt> neighbors;
for ( TopExp_Explorer exp3(wire,TopAbs_EDGE); exp3.More(); exp3.Next() ) {
TopoDS_Edge edge = TopoDS::Edge(exp3.Current());
std::vector<gp_Pnt> edge_points;
for ( TopExp_Explorer exp2(edge,TopAbs_VERTEX); exp2.More(); exp2.Next() ) {
TopoDS_Vertex V2 = TopoDS::Vertex(exp2.Current());
gp_Pnt P2 = BRep_Tool::Pnt(V2);
edge_points.push_back(P2);
}
if ( edge_points.size() != 2 ) continue;
if ( edge_points[0].IsEqual(P1,GetValue(GV_POINT_EQUALITY_TOLERANCE))) neighbors.push_back(edge_points[1]);
else if ( edge_points[1].IsEqual(P1, GetValue(GV_POINT_EQUALITY_TOLERANCE))) neighbors.push_back(edge_points[0]);
}
// There should be two of these
if ( neighbors.size() != 2 ) return false;
// Now find the non neighboring points
std::vector<gp_Pnt> non_neighbors;
for ( TopExp_Explorer exp2(wire,TopAbs_VERTEX); exp2.More(); exp2.Next() ) {
TopoDS_Vertex V2 = TopoDS::Vertex(exp2.Current());
gp_Pnt P2 = BRep_Tool::Pnt(V2);
if ( P1.IsEqual(P2,GetValue(GV_POINT_EQUALITY_TOLERANCE)) ) continue;
bool found = false;
for( std::vector<gp_Pnt>::const_iterator it = neighbors.begin(); it != neighbors.end(); ++ it ) {
if ( (*it).IsEqual(P2,GetValue(GV_POINT_EQUALITY_TOLERANCE)) ) { found = true; break; }
}
if ( ! found ) non_neighbors.push_back(P2);
}
// Calculate the angle between the two edges of the vertex
gp_Dir dir1(neighbors[0].XYZ() - P1.XYZ());
gp_Dir dir2(neighbors[1].XYZ() - P1.XYZ());
const double angle = acos(dir1.Dot(dir2)) + 0.0001;
// Now for the non-neighbors see whether a greater angle can be found with one of the edges
for ( std::vector<gp_Pnt>::const_iterator it = non_neighbors.begin(); it != non_neighbors.end(); ++ it ) {
gp_Dir dir3((*it).XYZ() - P1.XYZ());
const double angle2 = acos(dir3.Dot(dir1));
const double angle3 = acos(dir3.Dot(dir2));
if ( angle2 > angle || angle3 > angle ) return false;
}
}
return true;
}
void eval_geometry_calc()
{
QgsPolyline polyline, polygon_ring;
polyline << QgsPoint( 0, 0 ) << QgsPoint( 10, 0 );
polygon_ring << QgsPoint( 1, 1 ) << QgsPoint( 6, 1 ) << QgsPoint( 6, 6 ) << QgsPoint( 1, 6 ) << QgsPoint( 1, 1 );
QgsPolygon polygon;
polygon << polygon_ring;
QgsFeature fPolygon, fPolyline;
fPolyline.setGeometry( QgsGeometry::fromPolyline( polyline ) );
fPolygon.setGeometry( QgsGeometry::fromPolygon( polygon ) );
QgsExpression exp1( "$area" );
QVariant vArea = exp1.evaluate( &fPolygon );
QCOMPARE( vArea.toDouble(), 25. );
QgsExpression exp2( "$length" );
QVariant vLength = exp2.evaluate( &fPolyline );
QCOMPARE( vLength.toDouble(), 10. );
QgsExpression exp3( "$perimeter" );
QVariant vPerimeter = exp3.evaluate( &fPolygon );
QCOMPARE( vPerimeter.toDouble(), 20. );
}
Eigen::Matrix<typename Vector3Like::Scalar,3,3,PINOCCHIO_EIGEN_PLAIN_TYPE(Vector3Like)::Options>
exp3_proxy(const Vector3Like & v)
{
return exp3(v);
}