/// \brief Exp: se3 -> SE3.
///
/// Return the integral of the input spatial velocity during time 1.
template <typename D> SE3Tpl<typename D::Scalar, D::Options>
exp6(const Eigen::MatrixBase<D> & v)
{
EIGEN_STATIC_ASSERT_VECTOR_SPECIFIC_SIZE(D,6);
MotionTpl<typename D::Scalar,D::Options> nu(v);
return exp6(nu);
}
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 );
}
SE3Tpl<Scalar,Options> exp6_proxy(const MotionTpl<Scalar,Options> & v)
{
return exp6(v);
}
