geo_alignedbox.cpp (18093B)
1 // This file is part of Eigen, a lightweight C++ template library 2 // for linear algebra. 3 // 4 // Copyright (C) 2008-2009 Gael Guennebaud <gael.guennebaud@inria.fr> 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/Geometry> 12 13 using namespace std; 14 15 // NOTE the following workaround was needed on some 32 bits builds to kill extra precision of x87 registers. 16 // It seems that it is not needed anymore, but let's keep it here, just in case... 17 18 template<typename T> EIGEN_DONT_INLINE 19 void kill_extra_precision(T& /* x */) { 20 // This one worked but triggered a warning: 21 /* eigen_assert((void*)(&x) != (void*)0); */ 22 // An alternative could be: 23 /* volatile T tmp = x; */ 24 /* x = tmp; */ 25 } 26 27 28 template<typename BoxType> void alignedbox(const BoxType& box) 29 { 30 /* this test covers the following files: 31 AlignedBox.h 32 */ 33 typedef typename BoxType::Scalar Scalar; 34 typedef NumTraits<Scalar> ScalarTraits; 35 typedef typename ScalarTraits::Real RealScalar; 36 typedef Matrix<Scalar, BoxType::AmbientDimAtCompileTime, 1> VectorType; 37 38 const Index dim = box.dim(); 39 40 VectorType p0 = VectorType::Random(dim); 41 VectorType p1 = VectorType::Random(dim); 42 while( p1 == p0 ){ 43 p1 = VectorType::Random(dim); } 44 RealScalar s1 = internal::random<RealScalar>(0,1); 45 46 BoxType b0(dim); 47 BoxType b1(VectorType::Random(dim),VectorType::Random(dim)); 48 BoxType b2; 49 50 kill_extra_precision(b1); 51 kill_extra_precision(p0); 52 kill_extra_precision(p1); 53 54 b0.extend(p0); 55 b0.extend(p1); 56 VERIFY(b0.contains(p0*s1+(Scalar(1)-s1)*p1)); 57 VERIFY(b0.contains(b0.center())); 58 VERIFY_IS_APPROX(b0.center(),(p0+p1)/Scalar(2)); 59 60 (b2 = b0).extend(b1); 61 VERIFY(b2.contains(b0)); 62 VERIFY(b2.contains(b1)); 63 VERIFY_IS_APPROX(b2.clamp(b0), b0); 64 65 // intersection 66 BoxType box1(VectorType::Random(dim)); 67 box1.extend(VectorType::Random(dim)); 68 BoxType box2(VectorType::Random(dim)); 69 box2.extend(VectorType::Random(dim)); 70 71 VERIFY(box1.intersects(box2) == !box1.intersection(box2).isEmpty()); 72 73 // alignment -- make sure there is no memory alignment assertion 74 BoxType *bp0 = new BoxType(dim); 75 BoxType *bp1 = new BoxType(dim); 76 bp0->extend(*bp1); 77 delete bp0; 78 delete bp1; 79 80 // sampling 81 for( int i=0; i<10; ++i ) 82 { 83 VectorType r = b0.sample(); 84 VERIFY(b0.contains(r)); 85 } 86 87 } 88 89 template<typename BoxType> void alignedboxTranslatable(const BoxType& box) 90 { 91 typedef typename BoxType::Scalar Scalar; 92 typedef Matrix<Scalar, BoxType::AmbientDimAtCompileTime, 1> VectorType; 93 typedef Transform<Scalar, BoxType::AmbientDimAtCompileTime, Isometry> IsometryTransform; 94 typedef Transform<Scalar, BoxType::AmbientDimAtCompileTime, Affine> AffineTransform; 95 96 alignedbox(box); 97 98 const VectorType Ones = VectorType::Ones(); 99 const VectorType UnitX = VectorType::UnitX(); 100 const Index dim = box.dim(); 101 102 // box((-1, -1, -1), (1, 1, 1)) 103 BoxType a(-Ones, Ones); 104 105 VERIFY_IS_APPROX(a.sizes(), Ones * Scalar(2)); 106 107 BoxType b = a; 108 VectorType translate = Ones; 109 translate[0] = Scalar(2); 110 b.translate(translate); 111 // translate by (2, 1, 1) -> box((1, 0, 0), (3, 2, 2)) 112 113 VERIFY_IS_APPROX(b.sizes(), Ones * Scalar(2)); 114 VERIFY_IS_APPROX((b.min)(), UnitX); 115 VERIFY_IS_APPROX((b.max)(), Ones * Scalar(2) + UnitX); 116 117 // Test transform 118 119 IsometryTransform tf = IsometryTransform::Identity(); 120 tf.translation() = -translate; 121 122 BoxType c = b.transformed(tf); 123 // translate by (-2, -1, -1) -> box((-1, -1, -1), (1, 1, 1)) 124 VERIFY_IS_APPROX(c.sizes(), a.sizes()); 125 VERIFY_IS_APPROX((c.min)(), (a.min)()); 126 VERIFY_IS_APPROX((c.max)(), (a.max)()); 127 128 c.transform(tf); 129 // translate by (-2, -1, -1) -> box((-3, -2, -2), (-1, 0, 0)) 130 VERIFY_IS_APPROX(c.sizes(), a.sizes()); 131 VERIFY_IS_APPROX((c.min)(), Ones * Scalar(-2) - UnitX); 132 VERIFY_IS_APPROX((c.max)(), -UnitX); 133 134 // Scaling 135 136 AffineTransform atf = AffineTransform::Identity(); 137 atf.scale(Scalar(3)); 138 c.transform(atf); 139 // scale by 3 -> box((-9, -6, -6), (-3, 0, 0)) 140 VERIFY_IS_APPROX(c.sizes(), Scalar(3) * a.sizes()); 141 VERIFY_IS_APPROX((c.min)(), Ones * Scalar(-6) - UnitX * Scalar(3)); 142 VERIFY_IS_APPROX((c.max)(), UnitX * Scalar(-3)); 143 144 atf = AffineTransform::Identity(); 145 atf.scale(Scalar(-3)); 146 c.transform(atf); 147 // scale by -3 -> box((27, 18, 18), (9, 0, 0)) 148 VERIFY_IS_APPROX(c.sizes(), Scalar(9) * a.sizes()); 149 VERIFY_IS_APPROX((c.min)(), UnitX * Scalar(9)); 150 VERIFY_IS_APPROX((c.max)(), Ones * Scalar(18) + UnitX * Scalar(9)); 151 152 // Check identity transform within numerical precision. 153 BoxType transformedC = c.transformed(IsometryTransform::Identity()); 154 VERIFY_IS_APPROX(transformedC, c); 155 156 for (size_t i = 0; i < 10; ++i) 157 { 158 VectorType minCorner; 159 VectorType maxCorner; 160 for (Index d = 0; d < dim; ++d) 161 { 162 minCorner[d] = internal::random<Scalar>(-10,10); 163 maxCorner[d] = minCorner[d] + internal::random<Scalar>(0, 10); 164 } 165 166 c = BoxType(minCorner, maxCorner); 167 168 translate = VectorType::Random(); 169 c.translate(translate); 170 171 VERIFY_IS_APPROX((c.min)(), minCorner + translate); 172 VERIFY_IS_APPROX((c.max)(), maxCorner + translate); 173 } 174 } 175 176 template<typename Scalar, typename Rotation> 177 Rotation rotate2D(Scalar angle) { 178 return Rotation2D<Scalar>(angle); 179 } 180 181 template<typename Scalar, typename Rotation> 182 Rotation rotate2DIntegral(typename NumTraits<Scalar>::NonInteger angle) { 183 typedef typename NumTraits<Scalar>::NonInteger NonInteger; 184 return Rotation2D<NonInteger>(angle).toRotationMatrix(). 185 template cast<Scalar>(); 186 } 187 188 template<typename Scalar, typename Rotation> 189 Rotation rotate3DZAxis(Scalar angle) { 190 return AngleAxis<Scalar>(angle, Matrix<Scalar, 3, 1>(0, 0, 1)); 191 } 192 193 template<typename Scalar, typename Rotation> 194 Rotation rotate3DZAxisIntegral(typename NumTraits<Scalar>::NonInteger angle) { 195 typedef typename NumTraits<Scalar>::NonInteger NonInteger; 196 return AngleAxis<NonInteger>(angle, Matrix<NonInteger, 3, 1>(0, 0, 1)). 197 toRotationMatrix().template cast<Scalar>(); 198 } 199 200 template<typename Scalar, typename Rotation> 201 Rotation rotate4DZWAxis(Scalar angle) { 202 Rotation result = Matrix<Scalar, 4, 4>::Identity(); 203 result.block(0, 0, 3, 3) = rotate3DZAxis<Scalar, AngleAxisd>(angle).toRotationMatrix(); 204 return result; 205 } 206 207 template <typename MatrixType> 208 MatrixType randomRotationMatrix() 209 { 210 // algorithm from 211 // https://www.isprs-ann-photogramm-remote-sens-spatial-inf-sci.net/III-7/103/2016/isprs-annals-III-7-103-2016.pdf 212 const MatrixType rand = MatrixType::Random(); 213 const MatrixType q = rand.householderQr().householderQ(); 214 const JacobiSVD<MatrixType> svd = q.jacobiSvd(ComputeFullU | ComputeFullV); 215 const typename MatrixType::Scalar det = (svd.matrixU() * svd.matrixV().transpose()).determinant(); 216 MatrixType diag = rand.Identity(); 217 diag(MatrixType::RowsAtCompileTime - 1, MatrixType::ColsAtCompileTime - 1) = det; 218 const MatrixType rotation = svd.matrixU() * diag * svd.matrixV().transpose(); 219 return rotation; 220 } 221 222 template <typename Scalar, int Dim> 223 Matrix<Scalar, Dim, (1<<Dim)> boxGetCorners(const Matrix<Scalar, Dim, 1>& min_, const Matrix<Scalar, Dim, 1>& max_) 224 { 225 Matrix<Scalar, Dim, (1<<Dim) > result; 226 for(Index i=0; i<(1<<Dim); ++i) 227 { 228 for(Index j=0; j<Dim; ++j) 229 result(j,i) = (i & (1<<j)) ? min_(j) : max_(j); 230 } 231 return result; 232 } 233 234 template<typename BoxType, typename Rotation> void alignedboxRotatable( 235 const BoxType& box, 236 Rotation (*rotate)(typename NumTraits<typename BoxType::Scalar>::NonInteger /*_angle*/)) 237 { 238 alignedboxTranslatable(box); 239 240 typedef typename BoxType::Scalar Scalar; 241 typedef typename NumTraits<Scalar>::NonInteger NonInteger; 242 typedef Matrix<Scalar, BoxType::AmbientDimAtCompileTime, 1> VectorType; 243 typedef Transform<Scalar, BoxType::AmbientDimAtCompileTime, Isometry> IsometryTransform; 244 typedef Transform<Scalar, BoxType::AmbientDimAtCompileTime, Affine> AffineTransform; 245 246 const VectorType Zero = VectorType::Zero(); 247 const VectorType Ones = VectorType::Ones(); 248 const VectorType UnitX = VectorType::UnitX(); 249 const VectorType UnitY = VectorType::UnitY(); 250 // this is vector (0, 0, -1, -1, -1, ...), i.e. with zeros at first and second dimensions 251 const VectorType UnitZ = Ones - UnitX - UnitY; 252 253 // in this kind of comments the 3D case values will be illustrated 254 // box((-1, -1, -1), (1, 1, 1)) 255 BoxType a(-Ones, Ones); 256 257 // to allow templating this test for both 2D and 3D cases, we always set all 258 // but the first coordinate to the same value; so basically 3D case works as 259 // if you were looking at the scene from top 260 261 VectorType minPoint = -2 * Ones; 262 minPoint[0] = -3; 263 VectorType maxPoint = Zero; 264 maxPoint[0] = -1; 265 BoxType c(minPoint, maxPoint); 266 // box((-3, -2, -2), (-1, 0, 0)) 267 268 IsometryTransform tf2 = IsometryTransform::Identity(); 269 // for some weird reason the following statement has to be put separate from 270 // the following rotate call, otherwise precision problems arise... 271 Rotation rot = rotate(NonInteger(EIGEN_PI)); 272 tf2.rotate(rot); 273 274 c.transform(tf2); 275 // rotate by 180 deg around origin -> box((1, 0, -2), (3, 2, 0)) 276 277 VERIFY_IS_APPROX(c.sizes(), a.sizes()); 278 VERIFY_IS_APPROX((c.min)(), UnitX - UnitZ * Scalar(2)); 279 VERIFY_IS_APPROX((c.max)(), UnitX * Scalar(3) + UnitY * Scalar(2)); 280 281 rot = rotate(NonInteger(EIGEN_PI / 2)); 282 tf2.setIdentity(); 283 tf2.rotate(rot); 284 285 c.transform(tf2); 286 // rotate by 90 deg around origin -> box((-2, 1, -2), (0, 3, 0)) 287 288 VERIFY_IS_APPROX(c.sizes(), a.sizes()); 289 VERIFY_IS_APPROX((c.min)(), Ones * Scalar(-2) + UnitY * Scalar(3)); 290 VERIFY_IS_APPROX((c.max)(), UnitY * Scalar(3)); 291 292 // box((-1, -1, -1), (1, 1, 1)) 293 AffineTransform atf = AffineTransform::Identity(); 294 atf.linearExt()(0, 1) = Scalar(1); 295 c = BoxType(-Ones, Ones); 296 c.transform(atf); 297 // 45 deg shear in x direction -> box((-2, -1, -1), (2, 1, 1)) 298 299 VERIFY_IS_APPROX(c.sizes(), Ones * Scalar(2) + UnitX * Scalar(2)); 300 VERIFY_IS_APPROX((c.min)(), -Ones - UnitX); 301 VERIFY_IS_APPROX((c.max)(), Ones + UnitX); 302 } 303 304 template<typename BoxType, typename Rotation> void alignedboxNonIntegralRotatable( 305 const BoxType& box, 306 Rotation (*rotate)(typename NumTraits<typename BoxType::Scalar>::NonInteger /*_angle*/)) 307 { 308 alignedboxRotatable(box, rotate); 309 310 typedef typename BoxType::Scalar Scalar; 311 typedef typename NumTraits<Scalar>::NonInteger NonInteger; 312 enum { Dim = BoxType::AmbientDimAtCompileTime }; 313 typedef Matrix<Scalar, Dim, 1> VectorType; 314 typedef Matrix<Scalar, Dim, (1 << Dim)> CornersType; 315 typedef Transform<Scalar, Dim, Isometry> IsometryTransform; 316 typedef Transform<Scalar, Dim, Affine> AffineTransform; 317 318 const Index dim = box.dim(); 319 const VectorType Zero = VectorType::Zero(); 320 const VectorType Ones = VectorType::Ones(); 321 322 VectorType minPoint = -2 * Ones; 323 minPoint[1] = 1; 324 VectorType maxPoint = Zero; 325 maxPoint[1] = 3; 326 BoxType c(minPoint, maxPoint); 327 // ((-2, 1, -2), (0, 3, 0)) 328 329 VectorType cornerBL = (c.min)(); 330 VectorType cornerTR = (c.max)(); 331 VectorType cornerBR = (c.min)(); cornerBR[0] = cornerTR[0]; 332 VectorType cornerTL = (c.max)(); cornerTL[0] = cornerBL[0]; 333 334 NonInteger angle = NonInteger(EIGEN_PI/3); 335 Rotation rot = rotate(angle); 336 IsometryTransform tf2; 337 tf2.setIdentity(); 338 tf2.rotate(rot); 339 340 c.transform(tf2); 341 // rotate by 60 deg -> box((-3.59, -1.23, -2), (-0.86, 1.5, 0)) 342 343 cornerBL = tf2 * cornerBL; 344 cornerBR = tf2 * cornerBR; 345 cornerTL = tf2 * cornerTL; 346 cornerTR = tf2 * cornerTR; 347 348 VectorType minCorner = Ones * Scalar(-2); 349 VectorType maxCorner = Zero; 350 minCorner[0] = (min)((min)(cornerBL[0], cornerBR[0]), (min)(cornerTL[0], cornerTR[0])); 351 maxCorner[0] = (max)((max)(cornerBL[0], cornerBR[0]), (max)(cornerTL[0], cornerTR[0])); 352 minCorner[1] = (min)((min)(cornerBL[1], cornerBR[1]), (min)(cornerTL[1], cornerTR[1])); 353 maxCorner[1] = (max)((max)(cornerBL[1], cornerBR[1]), (max)(cornerTL[1], cornerTR[1])); 354 355 for (Index d = 2; d < dim; ++d) 356 VERIFY_IS_APPROX(c.sizes()[d], Scalar(2)); 357 358 VERIFY_IS_APPROX((c.min)(), minCorner); 359 VERIFY_IS_APPROX((c.max)(), maxCorner); 360 361 VectorType minCornerValue = Ones * Scalar(-2); 362 VectorType maxCornerValue = Zero; 363 minCornerValue[0] = Scalar(Scalar(-sqrt(2*2 + 3*3)) * Scalar(cos(Scalar(atan(2.0/3.0)) - angle/2))); 364 minCornerValue[1] = Scalar(Scalar(-sqrt(1*1 + 2*2)) * Scalar(sin(Scalar(atan(2.0/1.0)) - angle/2))); 365 maxCornerValue[0] = Scalar(-sin(angle)); 366 maxCornerValue[1] = Scalar(3 * cos(angle)); 367 VERIFY_IS_APPROX((c.min)(), minCornerValue); 368 VERIFY_IS_APPROX((c.max)(), maxCornerValue); 369 370 // randomized test - translate and rotate the box and compare to a box made of transformed vertices 371 for (size_t i = 0; i < 10; ++i) 372 { 373 for (Index d = 0; d < dim; ++d) 374 { 375 minCorner[d] = internal::random<Scalar>(-10,10); 376 maxCorner[d] = minCorner[d] + internal::random<Scalar>(0, 10); 377 } 378 379 c = BoxType(minCorner, maxCorner); 380 381 CornersType corners = boxGetCorners(minCorner, maxCorner); 382 383 typename AffineTransform::LinearMatrixType rotation = 384 randomRotationMatrix<typename AffineTransform::LinearMatrixType>(); 385 386 tf2.setIdentity(); 387 tf2.rotate(rotation); 388 tf2.translate(VectorType::Random()); 389 390 c.transform(tf2); 391 corners = tf2 * corners; 392 393 minCorner = corners.rowwise().minCoeff(); 394 maxCorner = corners.rowwise().maxCoeff(); 395 396 VERIFY_IS_APPROX((c.min)(), minCorner); 397 VERIFY_IS_APPROX((c.max)(), maxCorner); 398 } 399 400 // randomized test - transform the box with a random affine matrix and compare to a box made of transformed vertices 401 for (size_t i = 0; i < 10; ++i) 402 { 403 for (Index d = 0; d < dim; ++d) 404 { 405 minCorner[d] = internal::random<Scalar>(-10,10); 406 maxCorner[d] = minCorner[d] + internal::random<Scalar>(0, 10); 407 } 408 409 c = BoxType(minCorner, maxCorner); 410 411 CornersType corners = boxGetCorners(minCorner, maxCorner); 412 413 AffineTransform atf = AffineTransform::Identity(); 414 atf.linearExt() = AffineTransform::LinearPart::Random(); 415 atf.translate(VectorType::Random()); 416 417 c.transform(atf); 418 corners = atf * corners; 419 420 minCorner = corners.rowwise().minCoeff(); 421 maxCorner = corners.rowwise().maxCoeff(); 422 423 VERIFY_IS_APPROX((c.min)(), minCorner); 424 VERIFY_IS_APPROX((c.max)(), maxCorner); 425 } 426 } 427 428 template<typename BoxType> 429 void alignedboxCastTests(const BoxType& box) 430 { 431 // casting 432 typedef typename BoxType::Scalar Scalar; 433 typedef Matrix<Scalar, BoxType::AmbientDimAtCompileTime, 1> VectorType; 434 435 const Index dim = box.dim(); 436 437 VectorType p0 = VectorType::Random(dim); 438 VectorType p1 = VectorType::Random(dim); 439 440 BoxType b0(dim); 441 442 b0.extend(p0); 443 b0.extend(p1); 444 445 const int Dim = BoxType::AmbientDimAtCompileTime; 446 typedef typename GetDifferentType<Scalar>::type OtherScalar; 447 AlignedBox<OtherScalar,Dim> hp1f = b0.template cast<OtherScalar>(); 448 VERIFY_IS_APPROX(hp1f.template cast<Scalar>(),b0); 449 AlignedBox<Scalar,Dim> hp1d = b0.template cast<Scalar>(); 450 VERIFY_IS_APPROX(hp1d.template cast<Scalar>(),b0); 451 } 452 453 454 void specificTest1() 455 { 456 Vector2f m; m << -1.0f, -2.0f; 457 Vector2f M; M << 1.0f, 5.0f; 458 459 typedef AlignedBox2f BoxType; 460 BoxType box( m, M ); 461 462 Vector2f sides = M-m; 463 VERIFY_IS_APPROX(sides, box.sizes() ); 464 VERIFY_IS_APPROX(sides[1], box.sizes()[1] ); 465 VERIFY_IS_APPROX(sides[1], box.sizes().maxCoeff() ); 466 VERIFY_IS_APPROX(sides[0], box.sizes().minCoeff() ); 467 468 VERIFY_IS_APPROX( 14.0f, box.volume() ); 469 VERIFY_IS_APPROX( 53.0f, box.diagonal().squaredNorm() ); 470 VERIFY_IS_APPROX( std::sqrt( 53.0f ), box.diagonal().norm() ); 471 472 VERIFY_IS_APPROX( m, box.corner( BoxType::BottomLeft ) ); 473 VERIFY_IS_APPROX( M, box.corner( BoxType::TopRight ) ); 474 Vector2f bottomRight; bottomRight << M[0], m[1]; 475 Vector2f topLeft; topLeft << m[0], M[1]; 476 VERIFY_IS_APPROX( bottomRight, box.corner( BoxType::BottomRight ) ); 477 VERIFY_IS_APPROX( topLeft, box.corner( BoxType::TopLeft ) ); 478 } 479 480 481 void specificTest2() 482 { 483 Vector3i m; m << -1, -2, 0; 484 Vector3i M; M << 1, 5, 3; 485 486 typedef AlignedBox3i BoxType; 487 BoxType box( m, M ); 488 489 Vector3i sides = M-m; 490 VERIFY_IS_APPROX(sides, box.sizes() ); 491 VERIFY_IS_APPROX(sides[1], box.sizes()[1] ); 492 VERIFY_IS_APPROX(sides[1], box.sizes().maxCoeff() ); 493 VERIFY_IS_APPROX(sides[0], box.sizes().minCoeff() ); 494 495 VERIFY_IS_APPROX( 42, box.volume() ); 496 VERIFY_IS_APPROX( 62, box.diagonal().squaredNorm() ); 497 498 VERIFY_IS_APPROX( m, box.corner( BoxType::BottomLeftFloor ) ); 499 VERIFY_IS_APPROX( M, box.corner( BoxType::TopRightCeil ) ); 500 Vector3i bottomRightFloor; bottomRightFloor << M[0], m[1], m[2]; 501 Vector3i topLeftFloor; topLeftFloor << m[0], M[1], m[2]; 502 VERIFY_IS_APPROX( bottomRightFloor, box.corner( BoxType::BottomRightFloor ) ); 503 VERIFY_IS_APPROX( topLeftFloor, box.corner( BoxType::TopLeftFloor ) ); 504 } 505 506 507 EIGEN_DECLARE_TEST(geo_alignedbox) 508 { 509 for(int i = 0; i < g_repeat; i++) 510 { 511 CALL_SUBTEST_1( (alignedboxNonIntegralRotatable<AlignedBox2f, Rotation2Df>(AlignedBox2f(), &rotate2D)) ); 512 CALL_SUBTEST_2( alignedboxCastTests(AlignedBox2f()) ); 513 514 CALL_SUBTEST_3( (alignedboxNonIntegralRotatable<AlignedBox3f, AngleAxisf>(AlignedBox3f(), &rotate3DZAxis)) ); 515 CALL_SUBTEST_4( alignedboxCastTests(AlignedBox3f()) ); 516 517 CALL_SUBTEST_5( (alignedboxNonIntegralRotatable<AlignedBox4d, Matrix4d>(AlignedBox4d(), &rotate4DZWAxis)) ); 518 CALL_SUBTEST_6( alignedboxCastTests(AlignedBox4d()) ); 519 520 CALL_SUBTEST_7( alignedboxTranslatable(AlignedBox1d()) ); 521 CALL_SUBTEST_8( alignedboxCastTests(AlignedBox1d()) ); 522 523 CALL_SUBTEST_9( alignedboxTranslatable(AlignedBox1i()) ); 524 CALL_SUBTEST_10( (alignedboxRotatable<AlignedBox2i, Matrix2i>(AlignedBox2i(), &rotate2DIntegral<int, Matrix2i>)) ); 525 CALL_SUBTEST_11( (alignedboxRotatable<AlignedBox3i, Matrix3i>(AlignedBox3i(), &rotate3DZAxisIntegral<int, Matrix3i>)) ); 526 527 CALL_SUBTEST_14( alignedbox(AlignedBox<double,Dynamic>(4)) ); 528 } 529 CALL_SUBTEST_12( specificTest1() ); 530 CALL_SUBTEST_13( specificTest2() ); 531 }