205 lines
7.0 KiB
C++
205 lines
7.0 KiB
C++
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// This file is part of Eigen, a lightweight C++ template library
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// for linear algebra.
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//
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// Copyright (C) 2012, 2013 Chen-Pang He <jdh8@ms63.hinet.net>
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//
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// This Source Code Form is subject to the terms of the Mozilla
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// Public License v. 2.0. If a copy of the MPL was not distributed
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// with this file, You can obtain one at http://mozilla.org/MPL/2.0/.
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#include "matrix_functions.h"
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template<typename T>
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void test2dRotation(const T& tol)
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{
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Matrix<T,2,2> A, B, C;
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T angle, c, s;
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A << 0, 1, -1, 0;
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MatrixPower<Matrix<T,2,2> > Apow(A);
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for (int i=0; i<=20; ++i) {
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angle = std::pow(T(10), (i-10) / T(5.));
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c = std::cos(angle);
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s = std::sin(angle);
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B << c, s, -s, c;
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C = Apow(std::ldexp(angle,1) / T(EIGEN_PI));
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std::cout << "test2dRotation: i = " << i << " error powerm = " << relerr(C,B) << '\n';
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VERIFY(C.isApprox(B, tol));
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}
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}
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template<typename T>
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void test2dHyperbolicRotation(const T& tol)
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{
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Matrix<std::complex<T>,2,2> A, B, C;
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T angle, ch = std::cosh((T)1);
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std::complex<T> ish(0, std::sinh((T)1));
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A << ch, ish, -ish, ch;
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MatrixPower<Matrix<std::complex<T>,2,2> > Apow(A);
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for (int i=0; i<=20; ++i) {
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angle = std::ldexp(static_cast<T>(i-10), -1);
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ch = std::cosh(angle);
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ish = std::complex<T>(0, std::sinh(angle));
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B << ch, ish, -ish, ch;
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C = Apow(angle);
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std::cout << "test2dHyperbolicRotation: i = " << i << " error powerm = " << relerr(C,B) << '\n';
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VERIFY(C.isApprox(B, tol));
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}
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}
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template<typename T>
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void test3dRotation(const T& tol)
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{
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Matrix<T,3,1> v;
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T angle;
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for (int i=0; i<=20; ++i) {
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v = Matrix<T,3,1>::Random();
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v.normalize();
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angle = std::pow(T(10), (i-10) / T(5.));
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VERIFY(AngleAxis<T>(angle, v).matrix().isApprox(AngleAxis<T>(1,v).matrix().pow(angle), tol));
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}
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}
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template<typename MatrixType>
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void testGeneral(const MatrixType& m, const typename MatrixType::RealScalar& tol)
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{
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typedef typename MatrixType::RealScalar RealScalar;
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MatrixType m1, m2, m3, m4, m5;
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RealScalar x, y;
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for (int i=0; i < g_repeat; ++i) {
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generateTestMatrix<MatrixType>::run(m1, m.rows());
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MatrixPower<MatrixType> mpow(m1);
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x = internal::random<RealScalar>();
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y = internal::random<RealScalar>();
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m2 = mpow(x);
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m3 = mpow(y);
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m4 = mpow(x+y);
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m5.noalias() = m2 * m3;
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VERIFY(m4.isApprox(m5, tol));
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m4 = mpow(x*y);
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m5 = m2.pow(y);
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VERIFY(m4.isApprox(m5, tol));
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m4 = (std::abs(x) * m1).pow(y);
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m5 = std::pow(std::abs(x), y) * m3;
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VERIFY(m4.isApprox(m5, tol));
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}
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}
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template<typename MatrixType>
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void testSingular(const MatrixType& m_const, const typename MatrixType::RealScalar& tol)
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{
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// we need to pass by reference in order to prevent errors with
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// MSVC for aligned data types ...
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MatrixType& m = const_cast<MatrixType&>(m_const);
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const int IsComplex = NumTraits<typename internal::traits<MatrixType>::Scalar>::IsComplex;
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typedef typename internal::conditional<IsComplex, TriangularView<MatrixType,Upper>, const MatrixType&>::type TriangularType;
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typename internal::conditional< IsComplex, ComplexSchur<MatrixType>, RealSchur<MatrixType> >::type schur;
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MatrixType T;
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for (int i=0; i < g_repeat; ++i) {
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m.setRandom();
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m.col(0).fill(0);
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schur.compute(m);
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T = schur.matrixT();
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const MatrixType& U = schur.matrixU();
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processTriangularMatrix<MatrixType>::run(m, T, U);
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MatrixPower<MatrixType> mpow(m);
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T = T.sqrt();
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VERIFY(mpow(0.5L).isApprox(U * (TriangularType(T) * U.adjoint()), tol));
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T = T.sqrt();
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VERIFY(mpow(0.25L).isApprox(U * (TriangularType(T) * U.adjoint()), tol));
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T = T.sqrt();
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VERIFY(mpow(0.125L).isApprox(U * (TriangularType(T) * U.adjoint()), tol));
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}
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}
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template<typename MatrixType>
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void testLogThenExp(const MatrixType& m_const, const typename MatrixType::RealScalar& tol)
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{
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// we need to pass by reference in order to prevent errors with
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// MSVC for aligned data types ...
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MatrixType& m = const_cast<MatrixType&>(m_const);
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typedef typename MatrixType::Scalar Scalar;
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Scalar x;
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for (int i=0; i < g_repeat; ++i) {
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generateTestMatrix<MatrixType>::run(m, m.rows());
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x = internal::random<Scalar>();
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VERIFY(m.pow(x).isApprox((x * m.log()).exp(), tol));
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}
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}
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typedef Matrix<double,3,3,RowMajor> Matrix3dRowMajor;
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typedef Matrix<long double,3,3> Matrix3e;
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typedef Matrix<long double,Dynamic,Dynamic> MatrixXe;
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void test_matrix_power()
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{
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CALL_SUBTEST_2(test2dRotation<double>(1e-13));
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CALL_SUBTEST_1(test2dRotation<float>(2e-5)); // was 1e-5, relaxed for clang 2.8 / linux / x86-64
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CALL_SUBTEST_9(test2dRotation<long double>(1e-13L));
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CALL_SUBTEST_2(test2dHyperbolicRotation<double>(1e-14));
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CALL_SUBTEST_1(test2dHyperbolicRotation<float>(1e-5));
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CALL_SUBTEST_9(test2dHyperbolicRotation<long double>(1e-14L));
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CALL_SUBTEST_10(test3dRotation<double>(1e-13));
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CALL_SUBTEST_11(test3dRotation<float>(1e-5));
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CALL_SUBTEST_12(test3dRotation<long double>(1e-13L));
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CALL_SUBTEST_2(testGeneral(Matrix2d(), 1e-13));
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CALL_SUBTEST_7(testGeneral(Matrix3dRowMajor(), 1e-13));
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CALL_SUBTEST_3(testGeneral(Matrix4cd(), 1e-13));
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CALL_SUBTEST_4(testGeneral(MatrixXd(8,8), 2e-12));
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CALL_SUBTEST_1(testGeneral(Matrix2f(), 1e-4));
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CALL_SUBTEST_5(testGeneral(Matrix3cf(), 1e-4));
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CALL_SUBTEST_8(testGeneral(Matrix4f(), 1e-4));
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CALL_SUBTEST_6(testGeneral(MatrixXf(2,2), 1e-3)); // see bug 614
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CALL_SUBTEST_9(testGeneral(MatrixXe(7,7), 1e-13L));
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CALL_SUBTEST_10(testGeneral(Matrix3d(), 1e-13));
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CALL_SUBTEST_11(testGeneral(Matrix3f(), 1e-4));
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CALL_SUBTEST_12(testGeneral(Matrix3e(), 1e-13L));
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CALL_SUBTEST_2(testSingular(Matrix2d(), 1e-13));
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CALL_SUBTEST_7(testSingular(Matrix3dRowMajor(), 1e-13));
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CALL_SUBTEST_3(testSingular(Matrix4cd(), 1e-13));
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CALL_SUBTEST_4(testSingular(MatrixXd(8,8), 2e-12));
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CALL_SUBTEST_1(testSingular(Matrix2f(), 1e-4));
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CALL_SUBTEST_5(testSingular(Matrix3cf(), 1e-4));
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CALL_SUBTEST_8(testSingular(Matrix4f(), 1e-4));
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CALL_SUBTEST_6(testSingular(MatrixXf(2,2), 1e-3));
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CALL_SUBTEST_9(testSingular(MatrixXe(7,7), 1e-13L));
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CALL_SUBTEST_10(testSingular(Matrix3d(), 1e-13));
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CALL_SUBTEST_11(testSingular(Matrix3f(), 1e-4));
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CALL_SUBTEST_12(testSingular(Matrix3e(), 1e-13L));
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CALL_SUBTEST_2(testLogThenExp(Matrix2d(), 1e-13));
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CALL_SUBTEST_7(testLogThenExp(Matrix3dRowMajor(), 1e-13));
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CALL_SUBTEST_3(testLogThenExp(Matrix4cd(), 1e-13));
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CALL_SUBTEST_4(testLogThenExp(MatrixXd(8,8), 2e-12));
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CALL_SUBTEST_1(testLogThenExp(Matrix2f(), 1e-4));
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CALL_SUBTEST_5(testLogThenExp(Matrix3cf(), 1e-4));
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CALL_SUBTEST_8(testLogThenExp(Matrix4f(), 1e-4));
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CALL_SUBTEST_6(testLogThenExp(MatrixXf(2,2), 1e-3));
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CALL_SUBTEST_9(testLogThenExp(MatrixXe(7,7), 1e-13L));
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CALL_SUBTEST_10(testLogThenExp(Matrix3d(), 1e-13));
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CALL_SUBTEST_11(testLogThenExp(Matrix3f(), 1e-4));
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CALL_SUBTEST_12(testLogThenExp(Matrix3e(), 1e-13L));
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}
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