io_return_t
sceopen(
dev_t dev,
dev_mode_t flag,
io_req_t ior)
{
struct ifnet *ifp;
int i, unit;
sce_softc_t ssc;
scsit_return_t sr;
TR_DECL("sceopen");
tr4("enter: dev = 0x%x flag = 0x%x ior = 0x%x", dev, flag, ior);
unit = minor(dev);
if (scegetssc(unit) != NULL_SSC) {
tr1("exit: D_ALREADY_OPEN");
return (D_ALREADY_OPEN);
}
for(i=0;i<NSCE;i++) {
ssc = &sce_softc[i];
if (!ssc->inuse)
break;
}
if (ssc->inuse) {
tr1("exit: D_WOULD_BLOCK");
return (D_WOULD_BLOCK);
}
ssc->inuse = TRUE;
ssc->node = unit;
sr = scsit_handle_alloc(&ssc->recv_handle);
assert(sr == SCSIT_SUCCESS);
sr = scsit_handle_mismatch(ssc->recv_handle);
assert(sr == SCSIT_SUCCESS);
ifp = &(ssc->sce_if);
ifp->if_unit = unit;
ifp->if_mtu = SCE_MTU;
ifp->if_flags = IFF_UP | IFF_RUNNING | IFF_BROADCAST;
ifp->if_header_size = sizeof(struct ether_header);
ifp->if_header_format = HDR_ETHERNET;
ifp->if_address_size = 6;
ifp->if_address = sce_fake_addr;
if_init_queues(ifp);
(void)sce_prime(ssc, IKM_NULL);
tr1("exit: D_SUCCESS");
return (D_SUCCESS);
}
template<class Tret,class TcreateFunc1,class TcreateFunc2> Tret Twindow::createDlg_Box(int dlgId,HWND hWndParent,LPARAM lparam,TcreateFunc1 createFunc1,TcreateFunc2 createFunc2)
{
resized=false;
if (bindsHtrack)
for (int i=0; i<bindsHtrack[i].idc; i++) {
bindTrackbarsMap.insert(std::make_pair(bindsHtrack[i].idc,bindsHtrack+i));
}
if (bindsVtrack)
for (int i=0; i<bindsVtrack[i].idc; i++) {
bindTrackbarsMap.insert(std::make_pair(bindsVtrack[i].idc,bindsVtrack+i));
}
if (bindsCheckbox)
for (int i=0; i<bindsCheckbox[i].idc; i++) {
bindCheckboxesMap.insert(std::make_pair(bindsCheckbox[i].idc,bindsCheckbox+i));
}
HINSTANCE hi=this->hi?this->hi:g_hInst;//HACK!!
if (!tr) {
char_t lang[MAX_PATH],pth[MAX_PATH];
getpth(pth);
getUILanguage(pth,lang);
Ttranslate tr1(g_hInst,pth); // Create temporary translator to calculate window size.
tr1.init(lang,0); // don't care translatorMode, because we just want size.
DLGTEMPLATE *dlg=tr1.translateDialogTemplate(dlgId);
Tret ret=createFunc2(hi,dlg,hWndParent,msgProc0,lparam);
LocalFree(dlg);
return ret;
} else {
DLGTEMPLATE *dlg=tr->translateDialogTemplate(dlgId);
Tret ret=createFunc2(hi,dlg,hWndParent,msgProc0,lparam);
LocalFree(dlg);
return ret;
}
}
bool egcd(const bigint &b1, const bigint &b2, bigint &dr, bigint &r1, bigint &r2) const {
bool scs;
bigint dd(0), ppr1(0), ppr2(0), pr1(0), pr2(0), q, r(0), tr1(0), tr2(0);
if(compare(b1, b2) > 0) {
dd = b1;
dr = b2;
pr1 = one;
pr2.init();
} else {
dd = b2;
dr = b1;
pr1.init();
pr2 = one;
}
r1 = pr2;
r2 = pr1;
while((scs = divide(dd, dr, q, r)) && r.capacity() > 0) {
ppr1 = pr1;
ppr2 = pr2;
pr1 = r1;
pr2 = r2;
tr1.init();
tr2.init();
if(!(scs = (signedmultiply(q, pr1, tr1) && signedsubtract(ppr1, tr1, r1) &&
signedmultiply(q, pr2, tr2) && signedsubtract(ppr2, tr2, r2)))) {
break;
}
dd = dr;
dr = r;
q.init();
r.init();
}
return scs;
}
int main() {
std::thread tr1(stepLeft);
std::thread tr2(stepRight);
tr1.join();
tr2.join();
}
void test_SHARC2() {
SumOfSines vox1(196), vox2(196), vox3(196), vox4(196), vox5(196);
SHARC_Library * lib;
SHARC_Spectrum * sp1, * sp2, * sp3, * sp4, * sp5;
lib = new SHARC_Library("../../../Code/sharc");
// access a spectrum, load it into a SumOfSines, and scale it by a triangle envelope
sp1 = lib->spectrum_named("altoflute_vibrato", "g3");
vox1.add_partials(csl_min(sp1->_num_partials, 20), sp1->_partials);
vox1.create_cache(); // cache the waveform (since it's a harmonic overtone spectrum)
Triangle tr1(3, 0.75);
vox1.set_scale(tr1);
// repeat for 3 other delayed examples
sp2 = lib->spectrum_named("bass_clarinet", "g3");
vox2.add_partials(csl_min(sp2->_num_partials, 20), sp2->_partials);
vox2.create_cache(); // cache the waveform
Triangle tr2(3, 0.75);
vox2.set_scale(tr2);
sp3 = lib->spectrum_named("cello_vibrato", "g3");
vox3.add_partials(csl_min(sp3->_num_partials, 20), sp3->_partials);
vox3.create_cache(); // cache the waveform
Triangle tr3(3, 0.75);
vox3.set_scale(tr3);
sp4 = lib->spectrum_named("trombone", "g3");
vox4.add_partials(csl_min(sp4->_num_partials, 20), sp4->_partials);
vox4.create_cache(); // cache the waveform
Triangle tr4(3, 0.75);
vox4.set_scale(tr4);
sp5 = lib->spectrum_named("violin_martele", "g3");
vox5.add_partials(csl_min(sp4->_num_partials, 20), sp4->_partials);
vox5.create_cache(); // cache the waveform
Triangle tr5(3, 0.75);
vox5.set_scale(tr5);
Mixer mix(2); // create a stereo mixer
mix.add_input(vox1); mix.add_input(vox2);
mix.add_input(vox3); mix.add_input(vox4); mix.add_input(vox5);
logMsg("playing SumOfSines mix..."); // I don't use run_test() here because I need to trigger the envelopes while it's playing
gIO->set_root(mix); // turn it on
tr1.trigger(); // trigger the 1st envelope
usleep(1500000); // wait 1.5 sec
tr2.trigger(); // trigger the 2nd envelope
usleep(1500000); // wait 1.5 sec
tr3.trigger(); // trigger the 3rd envelope
usleep(1500000); // wait 1.5 sec
tr4.trigger(); // trigger the 4th envelope
usleep(1500000); // wait 1.5 sec
tr5.trigger(); // trigger the 5th envelope
usleep(3000000); // wait 3 seconds
gIO->clear_root(); // turn it off
logMsg("SumOfSines done.");
}
void ObjectTransactiontestUnit::test_nested_rollback()
{
matador::object_store store;
store.attach<person>("person");
matador::transaction tr1(store);
try {
tr1.begin();
auto hans = store.insert(new person("Hans", matador::date(12, 3, 1980), 180));
UNIT_ASSERT_GREATER(hans->id(), 0UL, "id must be valid");
tr1.commit();
tr1.begin();
UNIT_ASSERT_EQUAL(hans->height(), 180U, "height must be valid");
hans->height(183);
UNIT_ASSERT_EQUAL(hans->height(), 183U, "height must be valid");
matador::transaction tr2(store);
try {
tr2.begin();
UNIT_ASSERT_EQUAL(hans->height(), 183U, "height must be valid");
hans->height(159);
UNIT_ASSERT_EQUAL(hans->height(), 159U, "height must be valid");
tr2.rollback();
UNIT_ASSERT_EQUAL(hans->height(), 183U, "height must be valid");
} catch (std::exception &) {
tr2.rollback();
}
tr1.commit();
} catch (std::exception &) {
tr1.rollback();
}
matador::object_view<person> pview(store);
auto p = pview.front();
UNIT_ASSERT_GREATER(p->id(), 0UL, "id must be valid");
UNIT_ASSERT_EQUAL(p->name(), "Hans", "name must be 'Hans'");
}
void
scestart(int unit)
{
sce_softc_t ssc = scegetssc(unit);
scsit_return_t sr;
struct ifnet *ifp;
io_req_t ior;
TR_DECL("scestart");
tr2("enter: unit = 0x%x", unit);
assert(ssc != NULL_SSC);
ifp = &ssc->sce_if;
IF_DEQUEUE(&ifp->if_snd, ior);
dequeued:
while(ior) {
struct ether_header *ehp = (struct ether_header *)ior->io_data;
scsit_handle_t handle;
bcopy((const char *)sce_fake_addr,(char *)&ehp->ether_shost,6);
sr = scsit_handle_alloc(&handle);
assert(sr == SCSIT_SUCCESS);
tr1("sending");
sr = scsit_send(handle,
ssc->node,
sce_lun,
(void *)ior,
(char *)ehp,
ior->io_count,
FALSE);
assert(sr == SCSIT_SUCCESS);
IF_DEQUEUE(&ifp->if_snd, ior);
}
tr1("exit");
}
void
sce_send_complete(
scsit_handle_t handle,
void * opaque,
char * buffer,
unsigned int count,
scsit_return_t sr)
{
io_req_t ior = (io_req_t)opaque;
TR_DECL("sce_send_complete");
tr1("enter");
sr = scsit_handle_free(handle);
assert(sr == SCSIT_SUCCESS);
iodone(ior);
}
void
transaction_per_period (int nPeriodSeconds, void (*tr1) ())
{
int start = get_msec_count (), duration, wait_secs;
tr1 ();
duration = (get_msec_count () - start) / 1000;
wait_secs = nPeriodSeconds - duration;
if (wait_secs > 0)
#ifdef WIN32
Sleep (RandomNumber (1, wait_secs) * 1000);
#else
sleep (RandomNumber (1, wait_secs));
#endif
}
TEST_F(PhyloTreeTest, PulleyPrinciple) {
double t1 = rand()/(double)RAND_MAX;
double t2 = rand()/(double)RAND_MAX;
PhyloTreeNode* r1 = new PhyloTreeNode();
PhyloTreeNode* h1 = new PhyloTreeNode();
h1->addChild(new PhyloTreeNode("s1", "ACGT"), rand()/(double)RAND_MAX);
h1->addChild(new PhyloTreeNode("s2", "GCCA"), rand()/(double)RAND_MAX);
r1->addChild(new PhyloTreeNode("s3", "GGGA"), t1);
r1->addChild(h1, t2);
PhyloTree tr1(r1, new Kimura(10.0));
double lh1 = tr1.logLikelihood();
ASSERT_LT(tr1.logLikelihood(), 0.0);
for (unsigned int i = 0; i < 1000; i++) {
double t_rand = rand()/(double)RAND_MAX;
r1->setLeftDist(t_rand);
r1->setLeftDist((t1+t2)-t_rand);
ASSERT_FLOAT_EQ(tr1.logLikelihood(), lh1);
}
}
Z H2(rho){A z;ND2 I1{I wt=w->t,wn=w->n;I *d=a->p,r=a->n,n=tr1(r,d);Q(n<0,9)
Q(r>MAXR,13)if(n==wn)R rsh(w,r,d);W(ga(t=wt,r,n,d))u=wn;C2(m0)}}
Z H1(monadicIota){A z;I1;{I r=a->n,*d=a->p,n=tr1(r,d);Q(n<0,9) Q(a->r>1,7)Q(r>MAXR,13)W(ga(It,r,n,d))d=z->p;DO(n,d[i]=i)R(I)z;}}
template<typename Scalar, int Mode, int Options> void transformations()
{
/* this test covers the following files:
Cross.h Quaternion.h, Transform.cpp
*/
typedef Matrix<Scalar,2,2> Matrix2;
typedef Matrix<Scalar,3,3> Matrix3;
typedef Matrix<Scalar,4,4> Matrix4;
typedef Matrix<Scalar,2,1> Vector2;
typedef Matrix<Scalar,3,1> Vector3;
typedef Matrix<Scalar,4,1> Vector4;
typedef Quaternion<Scalar> Quaternionx;
typedef AngleAxis<Scalar> AngleAxisx;
typedef Transform<Scalar,2,Mode,Options> Transform2;
typedef Transform<Scalar,3,Mode,Options> Transform3;
typedef Transform<Scalar,2,Isometry,Options> Isometry2;
typedef Transform<Scalar,3,Isometry,Options> Isometry3;
typedef typename Transform3::MatrixType MatrixType;
typedef DiagonalMatrix<Scalar,2> AlignedScaling2;
typedef DiagonalMatrix<Scalar,3> AlignedScaling3;
typedef Translation<Scalar,2> Translation2;
typedef Translation<Scalar,3> Translation3;
Vector3 v0 = Vector3::Random(),
v1 = Vector3::Random();
Matrix3 matrot1, m;
Scalar a = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
Scalar s0 = internal::random<Scalar>();
VERIFY_IS_APPROX(v0, AngleAxisx(a, v0.normalized()) * v0);
VERIFY_IS_APPROX(-v0, AngleAxisx(Scalar(M_PI), v0.unitOrthogonal()) * v0);
VERIFY_IS_APPROX(internal::cos(a)*v0.squaredNorm(), v0.dot(AngleAxisx(a, v0.unitOrthogonal()) * v0));
m = AngleAxisx(a, v0.normalized()).toRotationMatrix().adjoint();
VERIFY_IS_APPROX(Matrix3::Identity(), m * AngleAxisx(a, v0.normalized()));
VERIFY_IS_APPROX(Matrix3::Identity(), AngleAxisx(a, v0.normalized()) * m);
Quaternionx q1, q2;
q1 = AngleAxisx(a, v0.normalized());
q2 = AngleAxisx(a, v1.normalized());
// rotation matrix conversion
matrot1 = AngleAxisx(Scalar(0.1), Vector3::UnitX())
* AngleAxisx(Scalar(0.2), Vector3::UnitY())
* AngleAxisx(Scalar(0.3), Vector3::UnitZ());
VERIFY_IS_APPROX(matrot1 * v1,
AngleAxisx(Scalar(0.1), Vector3(1,0,0)).toRotationMatrix()
* (AngleAxisx(Scalar(0.2), Vector3(0,1,0)).toRotationMatrix()
* (AngleAxisx(Scalar(0.3), Vector3(0,0,1)).toRotationMatrix() * v1)));
// angle-axis conversion
AngleAxisx aa = AngleAxisx(q1);
VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1);
VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1);
aa.fromRotationMatrix(aa.toRotationMatrix());
VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1);
VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1);
// AngleAxis
VERIFY_IS_APPROX(AngleAxisx(a,v1.normalized()).toRotationMatrix(),
Quaternionx(AngleAxisx(a,v1.normalized())).toRotationMatrix());
AngleAxisx aa1;
m = q1.toRotationMatrix();
aa1 = m;
VERIFY_IS_APPROX(AngleAxisx(m).toRotationMatrix(),
Quaternionx(m).toRotationMatrix());
// Transform
// TODO complete the tests !
a = 0;
while (internal::abs(a)<Scalar(0.1))
a = internal::random<Scalar>(-Scalar(0.4)*Scalar(M_PI), Scalar(0.4)*Scalar(M_PI));
q1 = AngleAxisx(a, v0.normalized());
Transform3 t0, t1, t2;
// first test setIdentity() and Identity()
t0.setIdentity();
VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
t0.matrix().setZero();
t0 = Transform3::Identity();
VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
t0.setIdentity();
t1.setIdentity();
v1 << 1, 2, 3;
t0.linear() = q1.toRotationMatrix();
t0.pretranslate(v0);
t0.scale(v1);
t1.linear() = q1.conjugate().toRotationMatrix();
t1.prescale(v1.cwiseInverse());
t1.translate(-v0);
VERIFY((t0 * t1).matrix().isIdentity(test_precision<Scalar>()));
t1.fromPositionOrientationScale(v0, q1, v1);
VERIFY_IS_APPROX(t1.matrix(), t0.matrix());
t0.setIdentity(); t0.scale(v0).rotate(q1.toRotationMatrix());
t1.setIdentity(); t1.scale(v0).rotate(q1);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
t0.setIdentity(); t0.scale(v0).rotate(AngleAxisx(q1));
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
VERIFY_IS_APPROX(t0.scale(a).matrix(), t1.scale(Vector3::Constant(a)).matrix());
VERIFY_IS_APPROX(t0.prescale(a).matrix(), t1.prescale(Vector3::Constant(a)).matrix());
// More transform constructors, operator=, operator*=
Matrix3 mat3 = Matrix3::Random();
Matrix4 mat4;
mat4 << mat3 , Vector3::Zero() , Vector4::Zero().transpose();
Transform3 tmat3(mat3), tmat4(mat4);
if(Mode!=int(AffineCompact))
tmat4.matrix()(3,3) = Scalar(1);
VERIFY_IS_APPROX(tmat3.matrix(), tmat4.matrix());
Scalar a3 = internal::random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
Vector3 v3 = Vector3::Random().normalized();
AngleAxisx aa3(a3, v3);
Transform3 t3(aa3);
Transform3 t4;
t4 = aa3;
VERIFY_IS_APPROX(t3.matrix(), t4.matrix());
t4.rotate(AngleAxisx(-a3,v3));
VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity());
t4 *= aa3;
VERIFY_IS_APPROX(t3.matrix(), t4.matrix());
v3 = Vector3::Random();
Translation3 tv3(v3);
Transform3 t5(tv3);
t4 = tv3;
VERIFY_IS_APPROX(t5.matrix(), t4.matrix());
t4.translate(-v3);
VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity());
t4 *= tv3;
VERIFY_IS_APPROX(t5.matrix(), t4.matrix());
AlignedScaling3 sv3(v3);
Transform3 t6(sv3);
t4 = sv3;
VERIFY_IS_APPROX(t6.matrix(), t4.matrix());
t4.scale(v3.cwiseInverse());
VERIFY_IS_APPROX(t4.matrix(), MatrixType::Identity());
t4 *= sv3;
VERIFY_IS_APPROX(t6.matrix(), t4.matrix());
// matrix * transform
VERIFY_IS_APPROX((t3.matrix()*t4).matrix(), (t3*t4).matrix());
// chained Transform product
VERIFY_IS_APPROX(((t3*t4)*t5).matrix(), (t3*(t4*t5)).matrix());
// check that Transform product doesn't have aliasing problems
t5 = t4;
t5 = t5*t5;
VERIFY_IS_APPROX(t5, t4*t4);
// 2D transformation
Transform2 t20, t21;
Vector2 v20 = Vector2::Random();
Vector2 v21 = Vector2::Random();
for (int k=0; k<2; ++k)
if (internal::abs(v21[k])<Scalar(1e-3)) v21[k] = Scalar(1e-3);
t21.setIdentity();
t21.linear() = Rotation2D<Scalar>(a).toRotationMatrix();
VERIFY_IS_APPROX(t20.fromPositionOrientationScale(v20,a,v21).matrix(),
t21.pretranslate(v20).scale(v21).matrix());
t21.setIdentity();
t21.linear() = Rotation2D<Scalar>(-a).toRotationMatrix();
VERIFY( (t20.fromPositionOrientationScale(v20,a,v21)
* (t21.prescale(v21.cwiseInverse()).translate(-v20))).matrix().isIdentity(test_precision<Scalar>()) );
// Transform - new API
// 3D
t0.setIdentity();
t0.rotate(q1).scale(v0).translate(v0);
// mat * aligned scaling and mat * translation
t1 = (Matrix3(q1) * AlignedScaling3(v0)) * Translation3(v0);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
t1 = (Matrix3(q1) * Eigen::Scaling(v0)) * Translation3(v0);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
t1 = (q1 * Eigen::Scaling(v0)) * Translation3(v0);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// mat * transformation and aligned scaling * translation
t1 = Matrix3(q1) * (AlignedScaling3(v0) * Translation3(v0));
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
t0.setIdentity();
t0.scale(s0).translate(v0);
t1 = Eigen::Scaling(s0) * Translation3(v0);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
t0.prescale(s0);
t1 = Eigen::Scaling(s0) * t1;
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
t0 = t3;
t0.scale(s0);
t1 = t3 * Eigen::Scaling(s0,s0,s0);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
t0.prescale(s0);
t1 = Eigen::Scaling(s0,s0,s0) * t1;
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
t0.setIdentity();
t0.prerotate(q1).prescale(v0).pretranslate(v0);
// translation * aligned scaling and transformation * mat
t1 = (Translation3(v0) * AlignedScaling3(v0)) * Transform3(q1);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// scaling * mat and translation * mat
t1 = Translation3(v0) * (AlignedScaling3(v0) * Transform3(q1));
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
t0.setIdentity();
t0.scale(v0).translate(v0).rotate(q1);
// translation * mat and aligned scaling * transformation
t1 = AlignedScaling3(v0) * (Translation3(v0) * Transform3(q1));
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// transformation * aligned scaling
t0.scale(v0);
t1 *= AlignedScaling3(v0);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// transformation * translation
t0.translate(v0);
t1 = t1 * Translation3(v0);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// translation * transformation
t0.pretranslate(v0);
t1 = Translation3(v0) * t1;
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// transform * quaternion
t0.rotate(q1);
t1 = t1 * q1;
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// translation * quaternion
t0.translate(v1).rotate(q1);
t1 = t1 * (Translation3(v1) * q1);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// aligned scaling * quaternion
t0.scale(v1).rotate(q1);
t1 = t1 * (AlignedScaling3(v1) * q1);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// quaternion * transform
t0.prerotate(q1);
t1 = q1 * t1;
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// quaternion * translation
t0.rotate(q1).translate(v1);
t1 = t1 * (q1 * Translation3(v1));
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// quaternion * aligned scaling
t0.rotate(q1).scale(v1);
t1 = t1 * (q1 * AlignedScaling3(v1));
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// test transform inversion
t0.setIdentity();
t0.translate(v0);
t0.linear().setRandom();
Matrix4 t044 = Matrix4::Zero();
t044(3,3) = 1;
t044.block(0,0,t0.matrix().rows(),4) = t0.matrix();
VERIFY_IS_APPROX(t0.inverse(Affine).matrix(), t044.inverse().block(0,0,t0.matrix().rows(),4));
t0.setIdentity();
t0.translate(v0).rotate(q1);
t044 = Matrix4::Zero();
t044(3,3) = 1;
t044.block(0,0,t0.matrix().rows(),4) = t0.matrix();
VERIFY_IS_APPROX(t0.inverse(Isometry).matrix(), t044.inverse().block(0,0,t0.matrix().rows(),4));
Matrix3 mat_rotation, mat_scaling;
t0.setIdentity();
t0.translate(v0).rotate(q1).scale(v1);
t0.computeRotationScaling(&mat_rotation, &mat_scaling);
VERIFY_IS_APPROX(t0.linear(), mat_rotation * mat_scaling);
VERIFY_IS_APPROX(mat_rotation*mat_rotation.adjoint(), Matrix3::Identity());
VERIFY_IS_APPROX(mat_rotation.determinant(), Scalar(1));
t0.computeScalingRotation(&mat_scaling, &mat_rotation);
VERIFY_IS_APPROX(t0.linear(), mat_scaling * mat_rotation);
VERIFY_IS_APPROX(mat_rotation*mat_rotation.adjoint(), Matrix3::Identity());
VERIFY_IS_APPROX(mat_rotation.determinant(), Scalar(1));
// test casting
Transform<float,3,Mode> t1f = t1.template cast<float>();
VERIFY_IS_APPROX(t1f.template cast<Scalar>(),t1);
Transform<double,3,Mode> t1d = t1.template cast<double>();
VERIFY_IS_APPROX(t1d.template cast<Scalar>(),t1);
Translation3 tr1(v0);
Translation<float,3> tr1f = tr1.template cast<float>();
VERIFY_IS_APPROX(tr1f.template cast<Scalar>(),tr1);
Translation<double,3> tr1d = tr1.template cast<double>();
VERIFY_IS_APPROX(tr1d.template cast<Scalar>(),tr1);
AngleAxis<float> aa1f = aa1.template cast<float>();
VERIFY_IS_APPROX(aa1f.template cast<Scalar>(),aa1);
AngleAxis<double> aa1d = aa1.template cast<double>();
VERIFY_IS_APPROX(aa1d.template cast<Scalar>(),aa1);
Rotation2D<Scalar> r2d1(internal::random<Scalar>());
Rotation2D<float> r2d1f = r2d1.template cast<float>();
VERIFY_IS_APPROX(r2d1f.template cast<Scalar>(),r2d1);
Rotation2D<double> r2d1d = r2d1.template cast<double>();
VERIFY_IS_APPROX(r2d1d.template cast<Scalar>(),r2d1);
t20 = Translation2(v20) * (Rotation2D<Scalar>(s0) * Scaling(s0));
t21 = Translation2(v20) * Rotation2D<Scalar>(s0) * Scaling(s0);
VERIFY_IS_APPROX(t20,t21);
}
void CTTypes::RunTestCaseL(TInt aCurTestCase)
{
switch(aCurTestCase)
{
case 1:
{
__UHEAP_MARK;
TestRgb tr1(0,0,0, this);
TestRgb tr2(100,100,100, this);
TestRgb tr3(10,20,30, this);
TestRgb tr4(110,160,210, this);
TestRgb tr5(255,255,255, this);
INFO_PRINTF1(_L("TRgb"));
tr1.Test();
tr2.Test();
tr3.Test();
tr4.Test();
tr5.Test();
((CTTypesStep*)iStep)->CloseTMSGraphicsStep();
__UHEAP_MARKEND;
}
break;
case 2:
{
INFO_PRINTF1(_L("TTypeface"));
TestTypeface ttf1(_L(""), 0, this);
TestTypeface ttf2(_L("Font name"), 1, this);
TestTypeface ttf3(_L("Font name"), 2, this);
TestTypeface ttf4(_L("Font name"), 3, this);
TestTypeface ttf5(_L("Font name"), 4, this);
TestTypeface ttf6(_L("Font name"), 5, this);
TestTypeface ttf7(_L("Font name"), 6, this);
TestTypeface ttf8(_L("Another font name"), 7, this);
ttf1.Test();
ttf2.Test();
ttf3.Test();
ttf4.Test();
ttf5.Test();
ttf6.Test();
ttf7.Test();
ttf8.Test();
}
break;
case 3:
{
TestMargins tm1(0,0,0,0, this);
TestMargins tm2(10,20,30,40, this);
TestMargins tm3(-10,-20,-30,-40, this);
INFO_PRINTF1(_L("TMargins"));
tm1.Test();
tm2.Test();
tm3.Test();
}
break;
case 4:
{
TestPageSpec tps1(TPageSpec::EPortrait,TSize(0,0), this);
TestPageSpec tps2(TPageSpec::ELandscape,TSize(0,0), this);
TestPageSpec tps3(TPageSpec::EPortrait,TSize(10,-5), this);
TestPageSpec tps4(TPageSpec::ELandscape,TSize(15,-20), this);
TestPageSpec tps5(TPageSpec::EPortrait,TSize(1000,1500), this);
TestPageSpec tps6(TPageSpec::ELandscape,TSize(2000,500), this);
INFO_PRINTF1(_L("TPageSpec"));
tps1.Test();
tps2.Test();
tps3.Test();
tps4.Test();
tps5.Test();
tps6.Test();
}
break;
case 5:
{
INFO_PRINTF1(_L("FontEffect"));
((CTTypesStep*)iStep)->SetTestStepID(_L("GRAPHICS-GDI-0002"));
TestFontEffect te(this);
((CTTypesStep*)iStep)->RecordTestResultL();
te.Test();
}
break;
case 6:
{
INFO_PRINTF1(_L("TFontSyle"));
TestTFontStyle ts(this);
ts.Test();
}
break;
case 7:
{
TTypeface typeface;
typeface.iName=_L("Font name");
TFontStyle fontstyle;
TestFontSpec tfspec(typeface,200,fontstyle, this);
INFO_PRINTF1(_L("TFontSpec"));
tfspec.Test();
}
break;
case 8:
{
/*
TestLine tl1(TPoint(10,10),TPoint(90,90), this);
TestLine tl2(TPoint(100,150),TPoint(50,-50), this);
TestLine tl3(TPoint(-50,50),TPoint(60,-40), this);
TestLine tl4(TPoint(-100,0),TPoint(0,200), this);
TestLine tl5(TPoint(150,-50),TPoint(50,75), this);
TestLine tl6(TPoint(0,-100),TPoint(-50,-150), this);
TestLine tl7(TPoint(-1000,-1000),TPoint(1000,1000), this);
TestLine tl8(TPoint(1000,-1000),TPoint(-1000,1000), this);
TestLine tl9(TPoint(500,-1000),TPoint(-500,1000), this);
TestLine tl10(TPoint(-500,-1000),TPoint(500,1000), this);
TestLine tl11(TPoint(1000,-500),TPoint(-1000,500), this);
TestLine tl12(TPoint(1000,500),TPoint(-1000,-500), this);
INFO_PRINTF1(_L("TLinearDDA"));
tl1.Test();
tl2.Test();
tl3.Test();
tl4.Test();
tl5.Test();
tl6.Test();
tl7.Test();
tl8.Test();
tl9.Test();
tl10.Test();
tl11.Test();
tl12.Test();
*/
INFO_PRINTF1(_L("TLinearDDA is only for Graphics team. Removed."));
}
break;
case 9:
{
INFO_PRINTF1(_L("CTypefaceStore"));
TestTFStore ttfs(this);
ttfs.Test();
}
break;
case 10:
{
INFO_PRINTF1(_L("CFontCache"));
TestFontCache tfc(this);
tfc.Test();
}
break;
case 11:
{
/*
INFO_PRINTF1(_L("CScaleCropPicture"));
TestPicture tp(this);
tp.Test();
*/
INFO_PRINTF1(_L("CScaleCropPicture is only for Graphics team. Removed."));
}
break;
case 12:
{
/*
INFO_PRINTF1(_L("CPalette"));
TestPalette tpal(this);
tpal.Test();
*/
INFO_PRINTF1(_L("CPalette is only for Graphics team. Removed."));
}
break;
case 13:
{
INFO_PRINTF1(_L("TDisplayModeUtils"));
TestDisplayModeUtils tdmu(this);
tdmu.Test();
}
break;
case 14:
((CTTypesStep*)iStep)->SetOverallTestStepID(_L("GRAPHICS-GDI-0001"));
((CTTypesStep*)iStep)->RecordTestResultL();
((CTTypesStep*)iStep)->CloseTMSGraphicsStep();
TestComplete();
break;
}
}
int
main(int argc, char **argv) {
uint64 genomeSize = 0;
char *atacFileName = 0L;
char *prefix = 0L;
char *trFile1 = 0L;
char *trFile2 = 0L;
char prefixFull[1024];
bool error = false;
int arg=1;
while (arg < argc) {
if (strcmp(argv[arg], "-g") == 0) {
++arg;
if (argv[arg][0] == 'A') {
genomeSize = 0;
} else if (argv[arg][0] == 'B') {
genomeSize = 1;
} else {
genomeSize = strtouint64(argv[arg], 0L);
}
} else if (strcmp(argv[arg], "-a") == 0) {
atacFileName = argv[++arg];
} else if (strcmp(argv[arg], "-p") == 0) {
prefix = argv[++arg];
} else if (strcmp(argv[arg], "-ta") == 0) {
trFile1 = argv[++arg];
} else if (strcmp(argv[arg], "-tb") == 0) {
trFile2 = argv[++arg];
} else {
error = true;
}
arg++;
}
if (!atacFileName || !prefix || error) {
fprintf(stderr, "usage: %s -a <file.atac> -p <outprefix> [-ta trfile] [-tb trfile] [-g {A | B | g}]\n", argv[0]);
fprintf(stderr, " -a read input from 'file.atac'\n");
fprintf(stderr, " -p write stats to files prefixed with 'outprefix'\n");
fprintf(stderr, " -g use a genome size of g for the Nx computation, defaults to\n");
fprintf(stderr, " the length of the A sequence. Or use the actual length\n");
fprintf(stderr, " of sequence A or B.\n");
fprintf(stderr, " -ta read tandem repeats for A from trfile\n");
fprintf(stderr, " -tb read tandem repeats for B from trfile\n");
exit(1);
}
atacFile AF(atacFileName);
atacMatchList &matches = *AF.matches();
atacMatchList &runs = *AF.runs();
atacMatchList &clumps = *AF.clumps();
// We end up using sequences a lot here, so just bite it and load them in a cache.
//
seqCache *A = new seqCache(AF.assemblyFileA(), 0, true);
seqCache *B = new seqCache(AF.assemblyFileB(), 0, true);
A->loadAllSequences();
B->loadAllSequences();
fprintf(stdout, "\nSEQUENCE\n");
totalLength(AF, A, B);
if (trFile1 && trFile2) {
atacFileStream tr1(trFile1);
atacFileStream tr2(trFile2);
tandemRepeatStats(tr1, tr2, AF, A, B);
}
// XXX unmappedInRuns only works on runs, and if we have clumps in
// the input it fails.
//
if ((runs.numberOfMatches() > 0) && (clumps.numberOfMatches() == 0)) {
fprintf(stdout, "\nMATCHES IN RUNS\n");
unmappedInRuns(AF, A, B, prefix);
}
if (matches.numberOfMatches() > 0) {
fprintf(stdout, "\nMATCHES\n");
sprintf(prefixFull, "%s-matches", prefix);
mappedLengths(AF, matches, A, B, prefixFull);
NxOfMapped(AF, matches, genomeSize, prefixFull);
MappedByChromosome(AF, matches, A, B, prefixFull);
}
if (runs.numberOfMatches() > 0) {
fprintf(stdout, "\nRUNS\n");
sprintf(prefixFull, "%s-runs", prefix);
mappedLengths(AF, runs, A, B, prefixFull);
NxOfMapped(AF, runs, genomeSize, prefixFull);
MappedByChromosome(AF, runs, A, B, prefixFull);
}
if (clumps.numberOfMatches() > 0) {
fprintf(stdout, "\nCLUMPS\n");
sprintf(prefixFull, "%s-clumps", prefix);
mappedLengths(AF, clumps, A, B, prefixFull);
NxOfMapped(AF, clumps, genomeSize, prefixFull);
MappedByChromosome(AF, clumps, A, B, prefixFull);
}
delete A;
delete B;
return(0);
}
void TestMatrix()
{
TGeoHMatrix identity;
/** translations **/
TGeoTranslation tr1(1., 2., 3.);
// Copy ctor
TGeoTranslation tr2(tr1);
myassert(tr2 == tr1, "translation copy ctor wrong");
// Assignment
tr2 = tr1;
myassert(tr2 == tr1, "translation assignment wrong");
myassert(tr2.IsTranslation(), "translation flag not set");
// Composition
TGeoTranslation trref1(2., 4., 6.);
TGeoTranslation tr3 = tr1 * tr2;
myassert(tr3 == trref1, "translation multiplication wrong");
tr2 *= tr1;
myassert(tr2 == trref1, "translation inplace multiplication wrong");
tr2 *= tr2.Inverse();
myassert(tr2 == identity, "translation inverse wrong");
/** rotations **/
TGeoRotation r1;
r1.RotateZ(90.);
// Copy ctor
TGeoRotation r2(r1);
myassert(r2 == r1, "rotation copy ctor wrong");
// Assignment
r2 = r1;
myassert(r2 == r1, "rotation assignment wrong");
myassert(r2.IsRotation(), "rotation flag not set");
// Composition
TGeoRotation r3 = r1 * r1 * r1 * r1;
myassert(r3 == identity, "rotation multiplication wrong");
r2 *= r2.Inverse();
myassert(r2 == identity, "rotation inplace multiplication wrong");
/** scale **/
TGeoScale scl1(1., 2., 3.);
// Copy ctor
TGeoScale scl2(scl1);
myassert(scl2 == scl1, "scale copy ctor wrong");
// Assignment
scl2 = scl1;
myassert(scl2 == scl1, "scale assignment wrong");
myassert(scl2.IsScale(), "scale flag not set");
// Composition
TGeoScale sclref1(1., 4., 9.);
TGeoScale scl3 = scl1 * scl2;
myassert(scl3 == sclref1, "scale multiplication wrong");
scl2 *= scl1;
myassert(scl2 == sclref1, "scale inplace multiplication wrong");
scl2 *= scl2.Inverse();
myassert(scl2 == identity, "scale inverse wrong");
/** HMatrix **/
// Copy constructor
TGeoHMatrix h1(tr1);
myassert(h1 == tr1 && h1.IsTranslation(), "hmatrix constructor from translation wrong");
// Assignment
TGeoHMatrix h2 = r1;
TGeoHMatrix h3 = scl1;
myassert(h2 == r1 && h3 == scl1 && h2.IsRotation() && h3.IsScale(), "hmatrix assignment wrong");
TGeoHMatrix h4 = h1 * h2;
myassert(tr1 == h4 && r1 == h4 && h4.IsTranslation() && h4.IsRotation(), "hmatrix multiplication wrong");
h4 *= h4.Inverse();
myassert(h4 == identity, "hmatrix inverse wrong");
/** Combi trans **/
// Copy constructor
TGeoCombiTrans c1(tr1);
myassert(c1 == tr1 && c1.IsTranslation(), "combi trans constructor from translation wrong");
// Assignment
TGeoCombiTrans c2 = r1;
myassert(c2 == r1 && c2.IsRotation(), "combi trans assignment wrong");
TGeoCombiTrans c3 = c1 * c2;
myassert(tr1 == c3 && r1 == c3 && c3.IsTranslation() && c3.IsRotation(), "combi trans multiplication wrong");
c3 *= c3.Inverse();
myassert(c3 == identity, "combi trans inverse wrong");
TGeoCombiTrans c4(1., 2., 3., &r1);
c4.Print();
TGeoCombiTrans c5(c4);
c5.Print();
myassert(c4.GetRotation() == &r1 && c5.GetRotation() != &r1, "combi trans copy constructor wrong");
// Test for Wolfgang Korsch's case
TGeoHMatrix href = tr1;
href *= TGeoRotation("", 0, 120, 0);
TGeoRotation r4;
r4.SetAngles(0, 90, 0);
TGeoRotation r5 = r4;
r4.SetAngles(0, 30, 0);
r5 = r5 * r4;
TGeoHMatrix combiH1TB = tr1 * r5;
myassert(combiH1TB == href, "translation multiplication demoted");
// Test for David Rohr's case
TGeoHMatrix h5 = href, h6 = href;
h5 *= h6.Inverse();
h6.Multiply(h6.Inverse());
myassert(h5 == h6 && h5 == identity, "inverse not matching");
}
//Bullet, a btVector can be used for both points and vectors.
//it is up to the user/developer to use the right multiplication: btTransform for points, and btQuaternion or btMatrix3x3 for vectors.
void BulletTest()
{
printf("Bullet Linearmath\n");
btTransform tr;
tr.setIdentity();
tr.setOrigin(btVector3(10,0,0));
//initialization
btVector3 pointA(0,0,0);
btVector3 pointB,pointC,pointD,pointE;
//assignment
pointB = pointA;
//in-place initialization
pointB.setValue(1,2,3);
//transform over tr
pointB = tr * pointA;
printf("pointB = tr * pointA = (%f,%f,%f)\n",pointB.getX(),pointB.getY(),pointB.getZ());
//transform over tr
pointE = tr(pointA);
//inverse transform
pointC = tr.inverse() * pointA;
printf("pointC = tr.inverse() * pointA = (%f,%f,%f)\n",pointC.getX(),pointC.getY(),pointC.getZ());
//inverse transform
pointD = tr.invXform( pointA );
btScalar x;
//dot product
x = pointD.dot(pointE);
//square length
x = pointD.length2();
//length
x = pointD.length();
const btVector3& constPointD = pointD;
//get a normalized vector from constPointD, without changing constPointD
btVector3 norm = constPointD.normalized();
//in-place normalize pointD
pointD.normalize();
//quaternions & matrices
btQuaternion quat(0,0,0,1);
btQuaternion quat1(btVector3(0,1,0),90.f * SIMD_RADS_PER_DEG);
btMatrix3x3 mat0(quat1);
btMatrix3x3 mat1 = mat0.inverse();
btMatrix3x3 mat2 = mat0.transpose();
btTransform tr1(mat2,btVector3(0,10,0));
btTransform tr2 =tr1.inverse();
btVector3 pt0(1,1,1);
btVector3 pt1 = tr2 * pt0;
printf("btVector3 pt1 = tr2 * pt0 = (%f,%f,%f)\n",pt1.getX(),pt1.getY(),pt1.getZ());
btVector3 pt2 = tr2.getBasis() * pt0;
btVector3 pt3 = pt0 * tr2.getBasis();
btVector3 pt4 = tr2.getBasis().inverse() * pt0;
btTransform tr3 = tr2.inverseTimes(tr2);
}
//vectormath makes a difference between point and vector.
void VectormathTest()
{
printf("Vectormath\n");
Vectormath::Aos::Transform3 tr;
tr = Vectormath::Aos::Transform3::identity();
tr.setTranslation(Vectormath::Aos::Vector3(10,0,0));
//initialization
Vectormath::Aos::Point3 pointA(0,0,0);
Vectormath::Aos::Point3 pointB,pointC,pointE;
Vectormath::Aos::Vector3 pointD;
//assignment
pointB = pointA;
//in-place initialization
pointB = Vectormath::Aos::Point3(1,2,3); //or
pointB.setElem(0,1); //or
pointB.setX(1);
//transform over tr
pointB = tr * pointA;
printf("pointB = tr * pointA = (%f,%f,%f)\n",(float)pointB.getX(),(float)pointB.getY(),(float)pointB.getZ());
//transform over tr
//pointE = tr(pointA);
//inverse transform
pointC = Vectormath::Aos::inverse(tr) * pointA;
printf("Vectormath::Aos::inverse(tr) * pointA = (%f,%f,%f)\n",(float)pointC.getX(),(float)pointC.getY(),(float)pointC.getZ());
btScalar x;
//dot product
x = Vectormath::Aos::dot(Vectormath::Aos::Vector3(pointD),Vectormath::Aos::Vector3(pointE));
//square length
x = Vectormath::Aos::lengthSqr(Vectormath::Aos::Vector3(pointD));
//length
x = Vectormath::Aos::length(Vectormath::Aos::Vector3(pointD));
const Vectormath::Aos::Vector3& constPointD = (Vectormath::Aos::Vector3&)pointD;
//get a normalized vector from constPointD, without changing constPointD
Vectormath::Aos::Vector3 norm = Vectormath::Aos::normalize(constPointD);
//in-place normalize pointD
pointD = Vectormath::Aos::normalize(Vectormath::Aos::Vector3(pointD));
//quaternions & matrices
Vectormath::Aos::Quat quat(0,0,0,1);
Vectormath::Aos::Quat quat1;
quat1 = Vectormath::Aos::Quat::rotationY(90.f * SIMD_RADS_PER_DEG);
Vectormath::Aos::Matrix3 mat0(quat1);
Vectormath::Aos::Matrix3 mat1 = Vectormath::Aos::inverse(mat0);
Vectormath::Aos::Matrix3 mat2 = Vectormath::Aos::transpose(mat0);
Vectormath::Aos::Transform3 tr1(mat2,Vectormath::Aos::Vector3(0,10,0));
Vectormath::Aos::Transform3 tr2 = Vectormath::Aos::inverse(tr1);
Vectormath::Aos::Point3 pt0(1,1,1);
Vectormath::Aos::Point3 pt1 = tr2 * pt0;
printf("Vectormath::Aos::Vector3 pt1 = tr2 * pt0; = (%f,%f,%f)\n",(float)pt1.getX(),(float)pt1.getY(),(float)pt1.getZ());
Vectormath::Aos::Vector3 pt2 = tr2.getUpper3x3() * Vectormath::Aos::Vector3(pt0);
//Vectormath::Aos::Vector3 pt3 = pt0 * tr2.getUpper3x3();
Vectormath::Aos::Vector3 pt3 = Vectormath::Aos::inverse(tr2.getUpper3x3()) * Vectormath::Aos::Vector3(pt0);
Vectormath::Aos::Vector3 pt4 = Vectormath::Aos::inverse(tr2.getUpper3x3()) * Vectormath::Aos::Vector3(pt0);
Vectormath::Aos::Transform3 tr3 = Vectormath::Aos::inverse(tr2) * tr2;
}
template<typename Scalar> void geometry(void)
{
/* this test covers the following files:
Cross.h Quaternion.h, Transform.cpp
*/
typedef Matrix<Scalar,2,2> Matrix2;
typedef Matrix<Scalar,3,3> Matrix3;
typedef Matrix<Scalar,4,4> Matrix4;
typedef Matrix<Scalar,2,1> Vector2;
typedef Matrix<Scalar,3,1> Vector3;
typedef Matrix<Scalar,4,1> Vector4;
typedef Quaternion<Scalar> Quaternionx;
typedef AngleAxis<Scalar> AngleAxisx;
typedef Transform<Scalar,2> Transform2;
typedef Transform<Scalar,3> Transform3;
typedef Scaling<Scalar,2> Scaling2;
typedef Scaling<Scalar,3> Scaling3;
typedef Translation<Scalar,2> Translation2;
typedef Translation<Scalar,3> Translation3;
Scalar largeEps = test_precision<Scalar>();
if (ei_is_same_type<Scalar,float>::ret)
largeEps = 1e-2f;
Vector3 v0 = Vector3::Random(),
v1 = Vector3::Random(),
v2 = Vector3::Random();
Vector2 u0 = Vector2::Random();
Matrix3 matrot1;
Scalar a = ei_random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
// cross product
VERIFY_IS_MUCH_SMALLER_THAN(v1.cross(v2).eigen2_dot(v1), Scalar(1));
Matrix3 m;
m << v0.normalized(),
(v0.cross(v1)).normalized(),
(v0.cross(v1).cross(v0)).normalized();
VERIFY(m.isUnitary());
// Quaternion: Identity(), setIdentity();
Quaternionx q1, q2;
q2.setIdentity();
VERIFY_IS_APPROX(Quaternionx(Quaternionx::Identity()).coeffs(), q2.coeffs());
q1.coeffs().setRandom();
VERIFY_IS_APPROX(q1.coeffs(), (q1*q2).coeffs());
// unitOrthogonal
VERIFY_IS_MUCH_SMALLER_THAN(u0.unitOrthogonal().eigen2_dot(u0), Scalar(1));
VERIFY_IS_MUCH_SMALLER_THAN(v0.unitOrthogonal().eigen2_dot(v0), Scalar(1));
VERIFY_IS_APPROX(u0.unitOrthogonal().norm(), Scalar(1));
VERIFY_IS_APPROX(v0.unitOrthogonal().norm(), Scalar(1));
VERIFY_IS_APPROX(v0, AngleAxisx(a, v0.normalized()) * v0);
VERIFY_IS_APPROX(-v0, AngleAxisx(Scalar(M_PI), v0.unitOrthogonal()) * v0);
VERIFY_IS_APPROX(ei_cos(a)*v0.squaredNorm(), v0.eigen2_dot(AngleAxisx(a, v0.unitOrthogonal()) * v0));
m = AngleAxisx(a, v0.normalized()).toRotationMatrix().adjoint();
VERIFY_IS_APPROX(Matrix3::Identity(), m * AngleAxisx(a, v0.normalized()));
VERIFY_IS_APPROX(Matrix3::Identity(), AngleAxisx(a, v0.normalized()) * m);
q1 = AngleAxisx(a, v0.normalized());
q2 = AngleAxisx(a, v1.normalized());
// angular distance
Scalar refangle = ei_abs(AngleAxisx(q1.inverse()*q2).angle());
if (refangle>Scalar(M_PI))
refangle = Scalar(2)*Scalar(M_PI) - refangle;
if((q1.coeffs()-q2.coeffs()).norm() > 10*largeEps)
{
VERIFY(ei_isApprox(q1.angularDistance(q2), refangle, largeEps));
}
// rotation matrix conversion
VERIFY_IS_APPROX(q1 * v2, q1.toRotationMatrix() * v2);
VERIFY_IS_APPROX(q1 * q2 * v2,
q1.toRotationMatrix() * q2.toRotationMatrix() * v2);
VERIFY( (q2*q1).isApprox(q1*q2, largeEps) || !(q2 * q1 * v2).isApprox(
q1.toRotationMatrix() * q2.toRotationMatrix() * v2));
q2 = q1.toRotationMatrix();
VERIFY_IS_APPROX(q1*v1,q2*v1);
matrot1 = AngleAxisx(Scalar(0.1), Vector3::UnitX())
* AngleAxisx(Scalar(0.2), Vector3::UnitY())
* AngleAxisx(Scalar(0.3), Vector3::UnitZ());
VERIFY_IS_APPROX(matrot1 * v1,
AngleAxisx(Scalar(0.1), Vector3(1,0,0)).toRotationMatrix()
* (AngleAxisx(Scalar(0.2), Vector3(0,1,0)).toRotationMatrix()
* (AngleAxisx(Scalar(0.3), Vector3(0,0,1)).toRotationMatrix() * v1)));
// angle-axis conversion
AngleAxisx aa = q1;
VERIFY_IS_APPROX(q1 * v1, Quaternionx(aa) * v1);
VERIFY_IS_NOT_APPROX(q1 * v1, Quaternionx(AngleAxisx(aa.angle()*2,aa.axis())) * v1);
// from two vector creation
VERIFY_IS_APPROX(v2.normalized(),(q2.setFromTwoVectors(v1,v2)*v1).normalized());
VERIFY_IS_APPROX(v2.normalized(),(q2.setFromTwoVectors(v1,v2)*v1).normalized());
// inverse and conjugate
VERIFY_IS_APPROX(q1 * (q1.inverse() * v1), v1);
VERIFY_IS_APPROX(q1 * (q1.conjugate() * v1), v1);
// AngleAxis
VERIFY_IS_APPROX(AngleAxisx(a,v1.normalized()).toRotationMatrix(),
Quaternionx(AngleAxisx(a,v1.normalized())).toRotationMatrix());
AngleAxisx aa1;
m = q1.toRotationMatrix();
aa1 = m;
VERIFY_IS_APPROX(AngleAxisx(m).toRotationMatrix(),
Quaternionx(m).toRotationMatrix());
// Transform
// TODO complete the tests !
a = 0;
while (ei_abs(a)<Scalar(0.1))
a = ei_random<Scalar>(-Scalar(0.4)*Scalar(M_PI), Scalar(0.4)*Scalar(M_PI));
q1 = AngleAxisx(a, v0.normalized());
Transform3 t0, t1, t2;
// first test setIdentity() and Identity()
t0.setIdentity();
VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
t0.matrix().setZero();
t0 = Transform3::Identity();
VERIFY_IS_APPROX(t0.matrix(), Transform3::MatrixType::Identity());
t0.linear() = q1.toRotationMatrix();
t1.setIdentity();
t1.linear() = q1.toRotationMatrix();
v0 << 50, 2, 1;//= ei_random_matrix<Vector3>().cwiseProduct(Vector3(10,2,0.5));
t0.scale(v0);
t1.prescale(v0);
VERIFY_IS_APPROX( (t0 * Vector3(1,0,0)).norm(), v0.x());
//VERIFY(!ei_isApprox((t1 * Vector3(1,0,0)).norm(), v0.x()));
t0.setIdentity();
t1.setIdentity();
v1 << 1, 2, 3;
t0.linear() = q1.toRotationMatrix();
t0.pretranslate(v0);
t0.scale(v1);
t1.linear() = q1.conjugate().toRotationMatrix();
t1.prescale(v1.cwise().inverse());
t1.translate(-v0);
VERIFY((t0.matrix() * t1.matrix()).isIdentity(test_precision<Scalar>()));
t1.fromPositionOrientationScale(v0, q1, v1);
VERIFY_IS_APPROX(t1.matrix(), t0.matrix());
VERIFY_IS_APPROX(t1*v1, t0*v1);
t0.setIdentity(); t0.scale(v0).rotate(q1.toRotationMatrix());
t1.setIdentity(); t1.scale(v0).rotate(q1);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
t0.setIdentity(); t0.scale(v0).rotate(AngleAxisx(q1));
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
VERIFY_IS_APPROX(t0.scale(a).matrix(), t1.scale(Vector3::Constant(a)).matrix());
VERIFY_IS_APPROX(t0.prescale(a).matrix(), t1.prescale(Vector3::Constant(a)).matrix());
// More transform constructors, operator=, operator*=
Matrix3 mat3 = Matrix3::Random();
Matrix4 mat4;
mat4 << mat3 , Vector3::Zero() , Vector4::Zero().transpose();
Transform3 tmat3(mat3), tmat4(mat4);
tmat4.matrix()(3,3) = Scalar(1);
VERIFY_IS_APPROX(tmat3.matrix(), tmat4.matrix());
Scalar a3 = ei_random<Scalar>(-Scalar(M_PI), Scalar(M_PI));
Vector3 v3 = Vector3::Random().normalized();
AngleAxisx aa3(a3, v3);
Transform3 t3(aa3);
Transform3 t4;
t4 = aa3;
VERIFY_IS_APPROX(t3.matrix(), t4.matrix());
t4.rotate(AngleAxisx(-a3,v3));
VERIFY_IS_APPROX(t4.matrix(), Matrix4::Identity());
t4 *= aa3;
VERIFY_IS_APPROX(t3.matrix(), t4.matrix());
v3 = Vector3::Random();
Translation3 tv3(v3);
Transform3 t5(tv3);
t4 = tv3;
VERIFY_IS_APPROX(t5.matrix(), t4.matrix());
t4.translate(-v3);
VERIFY_IS_APPROX(t4.matrix(), Matrix4::Identity());
t4 *= tv3;
VERIFY_IS_APPROX(t5.matrix(), t4.matrix());
Scaling3 sv3(v3);
Transform3 t6(sv3);
t4 = sv3;
VERIFY_IS_APPROX(t6.matrix(), t4.matrix());
t4.scale(v3.cwise().inverse());
VERIFY_IS_APPROX(t4.matrix(), Matrix4::Identity());
t4 *= sv3;
VERIFY_IS_APPROX(t6.matrix(), t4.matrix());
// matrix * transform
VERIFY_IS_APPROX(Transform3(t3.matrix()*t4).matrix(), Transform3(t3*t4).matrix());
// chained Transform product
VERIFY_IS_APPROX(((t3*t4)*t5).matrix(), (t3*(t4*t5)).matrix());
// check that Transform product doesn't have aliasing problems
t5 = t4;
t5 = t5*t5;
VERIFY_IS_APPROX(t5, t4*t4);
// 2D transformation
Transform2 t20, t21;
Vector2 v20 = Vector2::Random();
Vector2 v21 = Vector2::Random();
for (int k=0; k<2; ++k)
if (ei_abs(v21[k])<Scalar(1e-3)) v21[k] = Scalar(1e-3);
t21.setIdentity();
t21.linear() = Rotation2D<Scalar>(a).toRotationMatrix();
VERIFY_IS_APPROX(t20.fromPositionOrientationScale(v20,a,v21).matrix(),
t21.pretranslate(v20).scale(v21).matrix());
t21.setIdentity();
t21.linear() = Rotation2D<Scalar>(-a).toRotationMatrix();
VERIFY( (t20.fromPositionOrientationScale(v20,a,v21)
* (t21.prescale(v21.cwise().inverse()).translate(-v20))).matrix().isIdentity(test_precision<Scalar>()) );
// Transform - new API
// 3D
t0.setIdentity();
t0.rotate(q1).scale(v0).translate(v0);
// mat * scaling and mat * translation
t1 = (Matrix3(q1) * Scaling3(v0)) * Translation3(v0);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// mat * transformation and scaling * translation
t1 = Matrix3(q1) * (Scaling3(v0) * Translation3(v0));
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
t0.setIdentity();
t0.prerotate(q1).prescale(v0).pretranslate(v0);
// translation * scaling and transformation * mat
t1 = (Translation3(v0) * Scaling3(v0)) * Matrix3(q1);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// scaling * mat and translation * mat
t1 = Translation3(v0) * (Scaling3(v0) * Matrix3(q1));
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
t0.setIdentity();
t0.scale(v0).translate(v0).rotate(q1);
// translation * mat and scaling * transformation
t1 = Scaling3(v0) * (Translation3(v0) * Matrix3(q1));
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// transformation * scaling
t0.scale(v0);
t1 = t1 * Scaling3(v0);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// transformation * translation
t0.translate(v0);
t1 = t1 * Translation3(v0);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// translation * transformation
t0.pretranslate(v0);
t1 = Translation3(v0) * t1;
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// transform * quaternion
t0.rotate(q1);
t1 = t1 * q1;
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// translation * quaternion
t0.translate(v1).rotate(q1);
t1 = t1 * (Translation3(v1) * q1);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// scaling * quaternion
t0.scale(v1).rotate(q1);
t1 = t1 * (Scaling3(v1) * q1);
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// quaternion * transform
t0.prerotate(q1);
t1 = q1 * t1;
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// quaternion * translation
t0.rotate(q1).translate(v1);
t1 = t1 * (q1 * Translation3(v1));
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// quaternion * scaling
t0.rotate(q1).scale(v1);
t1 = t1 * (q1 * Scaling3(v1));
VERIFY_IS_APPROX(t0.matrix(), t1.matrix());
// translation * vector
t0.setIdentity();
t0.translate(v0);
VERIFY_IS_APPROX(t0 * v1, Translation3(v0) * v1);
// scaling * vector
t0.setIdentity();
t0.scale(v0);
VERIFY_IS_APPROX(t0 * v1, Scaling3(v0) * v1);
// test transform inversion
t0.setIdentity();
t0.translate(v0);
t0.linear().setRandom();
VERIFY_IS_APPROX(t0.inverse(Affine), t0.matrix().inverse());
t0.setIdentity();
t0.translate(v0).rotate(q1);
VERIFY_IS_APPROX(t0.inverse(Isometry), t0.matrix().inverse());
// test extract rotation and scaling
t0.setIdentity();
t0.translate(v0).rotate(q1).scale(v1);
VERIFY_IS_APPROX(t0.rotation() * v1, Matrix3(q1) * v1);
Matrix3 mat_rotation, mat_scaling;
t0.setIdentity();
t0.translate(v0).rotate(q1).scale(v1);
t0.computeRotationScaling(&mat_rotation, &mat_scaling);
VERIFY_IS_APPROX(t0.linear(), mat_rotation * mat_scaling);
VERIFY_IS_APPROX(mat_rotation*mat_rotation.adjoint(), Matrix3::Identity());
VERIFY_IS_APPROX(mat_rotation.determinant(), Scalar(1));
t0.computeScalingRotation(&mat_scaling, &mat_rotation);
VERIFY_IS_APPROX(t0.linear(), mat_scaling * mat_rotation);
VERIFY_IS_APPROX(mat_rotation*mat_rotation.adjoint(), Matrix3::Identity());
VERIFY_IS_APPROX(mat_rotation.determinant(), Scalar(1));
// test casting
Transform<float,3> t1f = t1.template cast<float>();
VERIFY_IS_APPROX(t1f.template cast<Scalar>(),t1);
Transform<double,3> t1d = t1.template cast<double>();
VERIFY_IS_APPROX(t1d.template cast<Scalar>(),t1);
Translation3 tr1(v0);
Translation<float,3> tr1f = tr1.template cast<float>();
VERIFY_IS_APPROX(tr1f.template cast<Scalar>(),tr1);
Translation<double,3> tr1d = tr1.template cast<double>();
VERIFY_IS_APPROX(tr1d.template cast<Scalar>(),tr1);
Scaling3 sc1(v0);
Scaling<float,3> sc1f = sc1.template cast<float>();
VERIFY_IS_APPROX(sc1f.template cast<Scalar>(),sc1);
Scaling<double,3> sc1d = sc1.template cast<double>();
VERIFY_IS_APPROX(sc1d.template cast<Scalar>(),sc1);
Quaternion<float> q1f = q1.template cast<float>();
VERIFY_IS_APPROX(q1f.template cast<Scalar>(),q1);
Quaternion<double> q1d = q1.template cast<double>();
VERIFY_IS_APPROX(q1d.template cast<Scalar>(),q1);
AngleAxis<float> aa1f = aa1.template cast<float>();
VERIFY_IS_APPROX(aa1f.template cast<Scalar>(),aa1);
AngleAxis<double> aa1d = aa1.template cast<double>();
VERIFY_IS_APPROX(aa1d.template cast<Scalar>(),aa1);
Rotation2D<Scalar> r2d1(ei_random<Scalar>());
Rotation2D<float> r2d1f = r2d1.template cast<float>();
VERIFY_IS_APPROX(r2d1f.template cast<Scalar>(),r2d1);
Rotation2D<double> r2d1d = r2d1.template cast<double>();
VERIFY_IS_APPROX(r2d1d.template cast<Scalar>(),r2d1);
m = q1;
// m.col(1) = Vector3(0,ei_random<Scalar>(),ei_random<Scalar>()).normalized();
// m.col(0) = Vector3(-1,0,0).normalized();
// m.col(2) = m.col(0).cross(m.col(1));
#define VERIFY_EULER(I,J,K, X,Y,Z) { \
Vector3 ea = m.eulerAngles(I,J,K); \
Matrix3 m1 = Matrix3(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##Z())); \
VERIFY_IS_APPROX(m, m1); \
VERIFY_IS_APPROX(m, Matrix3(AngleAxisx(ea[0], Vector3::Unit##X()) * AngleAxisx(ea[1], Vector3::Unit##Y()) * AngleAxisx(ea[2], Vector3::Unit##Z()))); \
}
VERIFY_EULER(0,1,2, X,Y,Z);
VERIFY_EULER(0,1,0, X,Y,X);
VERIFY_EULER(0,2,1, X,Z,Y);
VERIFY_EULER(0,2,0, X,Z,X);
VERIFY_EULER(1,2,0, Y,Z,X);
VERIFY_EULER(1,2,1, Y,Z,Y);
VERIFY_EULER(1,0,2, Y,X,Z);
VERIFY_EULER(1,0,1, Y,X,Y);
VERIFY_EULER(2,0,1, Z,X,Y);
VERIFY_EULER(2,0,2, Z,X,Z);
VERIFY_EULER(2,1,0, Z,Y,X);
VERIFY_EULER(2,1,2, Z,Y,Z);
// colwise/rowwise cross product
mat3.setRandom();
Vector3 vec3 = Vector3::Random();
Matrix3 mcross;
int i = ei_random<int>(0,2);
mcross = mat3.colwise().cross(vec3);
VERIFY_IS_APPROX(mcross.col(i), mat3.col(i).cross(vec3));
mcross = mat3.rowwise().cross(vec3);
VERIFY_IS_APPROX(mcross.row(i), mat3.row(i).cross(vec3));
}
int testTriangle() {
int numErr = 0;
logMessage(_T("TESTING - class GM_3dTriangle ...\n\n"));
// Default constructor, triangle must be invalid
GM_3dTriangle tr;
if (tr.isValid()) {
logMessage(_T("\tERROR - Default constructor creates valid triangle\n"));
numErr++;
}
else {
logMessage(_T("\tOK - Default constructor creates invalid triangle\n"));
}
// Get/Set
GM_3dPoint v1(getRandomDouble(), getRandomDouble(), getRandomDouble());
GM_3dPoint v2(getRandomDouble(), getRandomDouble(), getRandomDouble());
GM_3dPoint v3(getRandomDouble(), getRandomDouble(), getRandomDouble());
tr[0] = GM_3dLine(v1, v2);
tr[1] = GM_3dLine(v2, v3);
tr[2] = GM_3dLine(v3, v1);
if (!tr.isValid() || tr[0].begin() != v1 || tr[0].end() != v2 || tr[1].begin() != v2 || tr[1].end() != v3
|| tr[2].begin() != v3 || tr[2].end() != v1) {
logMessage(_T("\tERROR - Get/Set not working\n"));
numErr++;
}
else {
logMessage(_T("\tOK - Get/Set working\n"));
}
// Copy constructor
GM_3dTriangle tr1(tr);
if (!tr1.isValid() || tr[0] != tr1[0] || tr[1] != tr1[1] || tr[2] != tr1[2]) {
logMessage(_T("\tERROR - Copy constructor not working\n"));
numErr++;
}
else {
logMessage(_T("\tOK - Copy constructor working\n"));
}
// Constructor (points)
GM_3dTriangle tr2(v1, v2, v3);
if (!tr1.isValid() || tr[0] != tr2[0] || tr[1] != tr2[1] || tr[2] != tr2[2]) {
logMessage(_T("\tERROR - Constructor (points) not working\n"));
numErr++;
}
else {
logMessage(_T("\tOK - Constructor (points) working\n"));
}
// Constructor (lines)
GM_3dTriangle tr3(tr[0], tr[1], tr[2]);
if (!tr1.isValid() || tr[0] != tr3[0] || tr[1] != tr3[1] || tr[2] != tr3[2]) {
logMessage(_T("\tERROR - Constructor (lines) not working\n"));
numErr++;
}
else {
logMessage(_T("\tOK - Constructor (lines) working\n"));
}
// Inversion
tr1.invert();
if (!tr1.isValid() || tr1[0].begin() != tr[0].end() || tr1[0].end() != tr[0].begin() || tr1[1].begin() != tr[1].end() || tr1[1].end() != tr[1].begin() ||
tr1[2].begin() != tr[2].end() || tr1[2].end() != tr[2].begin()) {
logMessage(_T("\tERROR - Triangle inversion not working\n"));
numErr++;
}
else {
logMessage(_T("\tOK - Triangle inversion working\n"));
}
// Vertical check
GM_3dPoint vPoint = GM_3dLine(v1, v2).center();
vPoint.z(vPoint.z() + getRandomDouble());
GM_3dTriangle VTr(v1, v2, vPoint);
if (!VTr.isValid() || !VTr.isVertical()) {
logMessage(_T("\tERROR - Vertical check not working\n"));
numErr++;
}
else {
logMessage(_T("\tOK - Vertical check working\n"));
}
// Horizontal check
GM_3dTriangle HTr(tr);
double z = getRandomDouble();
for (unsigned int i = 0 ; i < 3 ; i++) {
HTr[i].begin().z(z);
HTr[i].end().z(z);
}
if (!HTr.isValid() || !HTr.isHorizontal()) {
logMessage(_T("\tERROR - Horizontal check not working\n"));
numErr++;
}
else {
logMessage(_T("\tOK - Horizontal check working\n"));
}
// Connection check
GM_3dTriangle discTr(tr);
discTr[0].begin().x(discTr[0].begin().x() + 2.0 * GM_DIFF_TOLERANCE);
if (!discTr.isValid() || discTr.isConnected() || !tr.isConnected()) {
logMessage(_T("\tERROR - Connection check not working\n"));
numErr++;
}
else {
logMessage(_T("\tOK - Connection check working\n"));
}
// Max/Min z
double maxZ = tr.maxZ();
double minZ = tr.minZ();
double checkMaxZ = -DBL_MAX;
double checkMinZ = DBL_MAX;
for (unsigned int i = 0 ; i < 3 ; i++) {
if (tr[i].begin().z() > checkMaxZ) checkMaxZ = tr[i].begin().z();
if (tr[i].begin().z() < checkMinZ) checkMinZ = tr[i].begin().z();
if (tr[i].end().z() > checkMaxZ) checkMaxZ = tr[i].end().z();
if (tr[i].end().z() < checkMinZ) checkMinZ = tr[i].end().z();
}
if (checkMinZ != minZ || checkMaxZ != maxZ) {
logMessage(_T("\tERROR - Min/Max z not working\n"));
numErr++;
}
else {
logMessage(_T("\tOK - Min/Max z working\n"));
}
return numErr;
}
