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float frand() { return static_cast<float>(rand())/RAND_MAX - 0.5f;}
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float frand() { return static_cast<float>(rand())/RAND_MAX - 0.5f;}
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/* This is a non-exhaustive test program for CGLA */
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/* This is a non-exhaustive test program for CGLA */
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main()
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main()
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{
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{
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	Vec3f norm(1,0,0);
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    Vec3f norm(1,0,0);
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	norm.normalize();
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    norm.normalize();
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	Vec3f a,b;
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    Vec3f a,b;
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	orthogonal(norm,a,b);
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    orthogonal(norm,a,b);
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	cout << "The frame " << endl;
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    cout << "The frame " << endl;
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	cout << norm << a << b << endl;
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    cout << norm << a << b << endl;
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	vector<Vec3f> vec;
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    vector<Vec3f> vec;
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	srand(0);
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    srand(0);
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	for(int i=0;i<100000;++i)
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    for(int i=0;i<100000;++i)
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	  {
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    {
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	    Vec3f p = 1.0f*frand()*norm + 2.02f*frand()*a + 3.05f*frand()*b;
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	Vec3f p = 1.0f*frand()*norm + 2.02f*frand()*a + 3.05f*frand()*b;
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	    vec.push_back(p);
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	vec.push_back(p);
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	  }
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    }
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- 
 
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	Mat3x3f A(0);
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    Mat3x3f A(0);
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	Vec3f m = covariance(vec, A);
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    Vec3f m = covariance(vec, A);
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	cout << "Mean and covariance " << endl;
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    cout << "Mean and covariance " << endl;
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	cout << m << "\n" << A << endl;
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    cout << m << "\n" << A << endl;
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	Mat3x3f Q,L;
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    Mat3x3f Q,L;
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	int n = power_eigensolution(A, Q, L);
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    int n = power_eigensolution(A, Q, L);
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	cout << "The " << n << " eigensolutions are ";
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    cout << "The " << n << " eigensolutions are ";
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	cout << Q << L << endl;
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    cout << Q << L << endl;
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	cout << "Dot products "
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    cout << "Dot products "
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			 << dot(Q[0], Q[1]) << " "
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	<< dot(Q[0], Q[1]) << " "
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			 << dot(Q[0], Q[2]) << " "
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	<< dot(Q[0], Q[2]) << " "
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			 << dot(Q[1], Q[2]) << endl;
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	<< dot(Q[1], Q[2]) << endl;
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}
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}