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/*
* Copyright (c) 2011-2021, The DART development contributors
* All rights reserved.
*
* The list of contributors can be found at:
* https://github.com/dartsim/dart/blob/master/LICENSE
*
* This file is provided under the following "BSD-style" License:
* Redistribution and use in source and binary forms, with or
* without modification, are permitted provided that the following
* conditions are met:
* * Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* * Redistributions in binary form must reproduce the above
* copyright notice, this list of conditions and the following
* disclaimer in the documentation and/or other materials provided
* with the distribution.
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND
* CONTRIBUTORS "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES,
* INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF
* MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
* CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
* SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
* LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF
* USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*/
#ifndef DART_UNITTESTS_GTESTUTILS_HPP_
#define DART_UNITTESTS_GTESTUTILS_HPP_
#include <Eigen/Dense>
#include <gtest/gtest.h>
#include "dart/math/Geometry.hpp"
#include "dart/math/MathTypes.hpp"
//==============================================================================
#define EXPECT_VECTOR_DOUBLE_EQ(vec1, vec2) \
if (!::dart::test::equals(vec1, vec2)) \
{ \
std::stringstream ss; \
ss << "Expected equality of these vectors:\n" \
<< " Expected: " << vec1.transpose() << "\n" \
<< " Actual : " << vec2.transpose() << "\n"; \
GTEST_NONFATAL_FAILURE_(ss.str().c_str()); \
} \
do \
{ \
} while (0)
// do {} while (0) is to require semicolon after the macro
//==============================================================================
#define EXPECT_MATRIX_DOUBLE_EQ(mat1, mat2) \
if (!::dart::test::equals(mat1, mat2)) \
{ \
std::stringstream ss; \
ss << "Expected equality of these matrices:\n" \
<< " Expected:\n" \
<< " " << mat1.matrix() << "\n" \
<< " Actual :\n" \
<< " " << mat2.matrix() << "\n"; \
GTEST_NONFATAL_FAILURE_(ss.str().c_str()); \
} \
do \
{ \
} while (0)
//==============================================================================
#define EXPECT_ROTATION_DOUBLE_EQ(rot1, rot2) \
if (!::dart::test::rotationEquals(rot1, rot2)) \
{ \
std::stringstream ss; \
ss << "Expected equality of these rotations:\n" \
<< " Expected:\n" \
<< " " << rot1 << "\n" \
<< " Actual :\n" \
<< " " << rot2 << "\n"; \
GTEST_NONFATAL_FAILURE_(ss.str().c_str()); \
} \
do \
{ \
} while (0)
//==============================================================================
#define EXPECT_TRANSFORM_DOUBLE_EQ(tf1, tf2) \
if (!::dart::test::equals(tf1, tf2)) \
{ \
std::stringstream ss; \
ss << "Expected equality of these transforms:\n" \
<< " Expected:\n" \
<< " " << tf1.matrix() << "\n" \
<< " Actual :\n" \
<< " " << tf2.matrix() << "\n"; \
GTEST_NONFATAL_FAILURE_(ss.str().c_str()); \
} \
do \
{ \
} while (0)
//==============================================================================
#define EXPECT_VECTOR_NEAR(vec1, vec2, abs_error) \
if (!::dart::test::equals(vec1, vec2, abs_error)) \
{ \
std::stringstream ss; \
ss << "The element-wise difference between:\n" \
<< vec1.transpose() << "\n" \
<< "and\n" \
<< vec2.transpose() << "\n" \
<< "exceeds " << abs_error << ".\n"; \
GTEST_NONFATAL_FAILURE_(ss.str().c_str()); \
} \
do \
{ \
} while (0)
//==============================================================================
#define EXPECT_MATRIX_NEAR(mat1, mat2, abs_error) \
if (!::dart::test::equals(mat1, mat2, abs_error)) \
{ \
std::stringstream ss; \
ss << "The element-wise difference between:\n" \
<< mat1.matrix() << "\n" \
<< "and\n" \
<< mat2.matrix() << "\n" \
<< "exceeds " << abs_error << ".\n"; \
GTEST_NONFATAL_FAILURE_(ss.str().c_str()); \
} \
do \
{ \
} while (0)
//==============================================================================
#define EXPECT_ROTATION_NEAR(rot1, rot2, abs_error) \
if (!::dart::test::rotationEquals(rot1, rot2, abs_error)) \
{ \
std::stringstream ss; \
ss << "The distance between:\n" \
<< rot1 << "\n" \
<< "and\n" \
<< rot2 << "\n" \
<< "exceeds " << abs_error << ".\n"; \
GTEST_NONFATAL_FAILURE_(ss.str().c_str()); \
} \
do \
{ \
} while (0)
//==============================================================================
#define EXPECT_TRANSFORM_NEAR(tf1, tf2, abs_error) \
if (!::dart::test::equals(tf1, tf2, abs_error)) \
{ \
std::stringstream ss; \
ss << "The distance between:\n" \
<< tf1.matrix() << "\n" \
<< "and\n" \
<< tf2.matrix() << "\n" \
<< "exceeds " << abs_error << ".\n"; \
GTEST_NONFATAL_FAILURE_(ss.str().c_str()); \
} \
do \
{ \
} while (0)
namespace dart {
namespace test {
namespace detail {
template <typename DerivedA, typename DerivedB, typename Enable = void>
struct EqualsImpl
{
static bool run(
const Eigen::DenseBase<DerivedA>& expected,
const Eigen::DenseBase<DerivedB>& actual,
typename DerivedA::Scalar tol)
{
// Get the matrix sizes and sanity check the call
const std::size_t n1 = expected.cols(), m1 = expected.rows();
const std::size_t n2 = actual.cols(), m2 = actual.rows();
if (m1 != m2 || n1 != n2)
return false;
// Check each index
for (std::size_t i = 0; i < m1; i++)
{
for (std::size_t j = 0; j < n1; j++)
{
if (std::isnan(expected(i, j)) ^ std::isnan(actual(i, j)))
{
return false;
}
else if (std::abs(expected(i, j)) > 1)
{
// Test relative error for values that are larger than 1
if (std::abs((expected(i, j) - actual(i, j)) / expected(i, j)) > tol)
return false;
}
else if (std::abs(expected(i, j) - actual(i, j)) > tol)
{
return false;
}
}
}
// If no problems, the two matrices are equal
return true;
}
};
// Workaround to resolve: "fpclassify': ambiguous call to overloaded function
// Reference: https://stackoverflow.com/a/61646279
#ifdef _WIN32
template <typename DerivedA, typename DerivedB>
struct EqualsImpl<
DerivedA,
DerivedB,
std::enable_if_t<std::is_integral<typename DerivedA::Scalar>::value>>
{
static bool run(
const Eigen::DenseBase<DerivedA>& expected,
const Eigen::DenseBase<DerivedB>& actual,
typename DerivedA::Scalar tol)
{
// Get the matrix sizes and sanity check the call
const std::size_t n1 = expected.cols(), m1 = expected.rows();
const std::size_t n2 = actual.cols(), m2 = actual.rows();
if (m1 != m2 || n1 != n2)
return false;
// Check each index
for (std::size_t i = 0; i < m1; i++)
{
for (std::size_t j = 0; j < n1; j++)
{
if (std::isnan(static_cast<double>(expected(i, j)))
^ std::isnan(static_cast<double>(actual(i, j))))
{
return false;
}
else if (std::abs(expected(i, j)) > 1)
{
// Test relative error for values that are larger than 1
if (std::abs((expected(i, j) - actual(i, j)) / expected(i, j)) > tol)
return false;
}
else if (std::abs(expected(i, j) - actual(i, j)) > tol)
{
return false;
}
}
}
// If no problems, the two matrices are equal
return true;
}
};
#endif
} // namespace detail
//==============================================================================
/// Returns true if the two matrices are equal within the given bound
template <typename T1, typename T2>
bool equals(
const T1& expected,
const T2& actual,
typename T1::Scalar tol = static_cast<typename T1::Scalar>(1e-5))
{
return detail::EqualsImpl<T1, T2>::run(expected, actual, tol);
}
//==============================================================================
bool rotationEquals(
const Eigen::Matrix3d& rot1, const Eigen::Matrix3d& rot2, double tol = 1e-5)
{
const Eigen::Matrix3d rotError = rot1.transpose() * rot2;
const Eigen::Vector3d error = dart::math::logMap(rotError);
return (error.norm() < tol);
}
//==============================================================================
bool equals(
const Eigen::Isometry3d& tf1,
const Eigen::Isometry3d& tf2,
double tol = 1e-5)
{
auto se3 = dart::math::logMap(tf1.inverse() * tf2);
auto norm = se3.norm();
return (norm < tol);
}
} // namespace test
} // namespace dart
#endif // DART_UNITTESTS_GTESTUTILS_HPP_
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