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Initial snapshot: hand motion pipeline (Dyn-HaMR + dex-retargeting + SPIDER)

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Co-Authored-By: Claude Fable 5 <noreply@anthropic.com>
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liyang
2026-09-15 14:13:49 +08:00
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third_party/Dyn-HaMR/third-party/DROID-SLAM/thirdparty/eigen/test/solverbase.h
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#ifndef TEST_SOLVERBASE_H
#define TEST_SOLVERBASE_H
template<typename DstType, typename RhsType, typename MatrixType, typename SolverType>
void check_solverbase(const MatrixType& matrix, const SolverType& solver, Index rows, Index cols, Index cols2)
{
// solve
DstType m2 = DstType::Random(cols,cols2);
RhsType m3 = matrix*m2;
DstType solver_solution = DstType::Random(cols,cols2);
solver._solve_impl(m3, solver_solution);
VERIFY_IS_APPROX(m3, matrix*solver_solution);
solver_solution = DstType::Random(cols,cols2);
solver_solution = solver.solve(m3);
VERIFY_IS_APPROX(m3, matrix*solver_solution);
// test solve with transposed
m3 = RhsType::Random(rows,cols2);
m2 = matrix.transpose()*m3;
RhsType solver_solution2 = RhsType::Random(rows,cols2);
solver.template _solve_impl_transposed<false>(m2, solver_solution2);
VERIFY_IS_APPROX(m2, matrix.transpose()*solver_solution2);
solver_solution2 = RhsType::Random(rows,cols2);
solver_solution2 = solver.transpose().solve(m2);
VERIFY_IS_APPROX(m2, matrix.transpose()*solver_solution2);
// test solve with conjugate transposed
m3 = RhsType::Random(rows,cols2);
m2 = matrix.adjoint()*m3;
solver_solution2 = RhsType::Random(rows,cols2);
solver.template _solve_impl_transposed<true>(m2, solver_solution2);
VERIFY_IS_APPROX(m2, matrix.adjoint()*solver_solution2);
solver_solution2 = RhsType::Random(rows,cols2);
solver_solution2 = solver.adjoint().solve(m2);
VERIFY_IS_APPROX(m2, matrix.adjoint()*solver_solution2);
// test with temporary expression as rhs
m2 = DstType::Random(cols,cols2);
solver_solution = solver.solve(matrix*m2);
VERIFY_IS_APPROX(matrix*m2, matrix*solver_solution);
}
#endif // TEST_SOLVERBASE_H