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/*
* Software License Agreement (BSD License)
*
* Copyright (c) 2018, Toyota Research Institute
* All rights reserved.
*
* 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.
* * Neither the name of Open Source Robotics Foundation nor the names of its
* contributors may be used to endorse or promote products derived
* from this software without specific prior written permission.
*
* 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 OWNER 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.
*/
/** @author Sean Curtis */
#include "fcl/math/constants.h"
#include <cmath>
#include <limits>
#include <gtest/gtest.h>
#include <unsupported/Eigen/AutoDiff>
namespace fcl {
namespace {
// Some autodiff helpers
template <typename S>
using Vector2 = Eigen::Matrix<S, 2, 1>;
template <typename S>
using AutoDiff2 = Eigen::AutoDiffScalar<Vector2<S>>;
// Utility function for confirming that the value returned by `constants` is
// the expected value based on the scalar type.
template<typename S>
void expect_eps_values(const char* type_name) {
static_assert(std::is_floating_point<S>::value,
"Only use this helper for float and double types");
S expected_eps = std::numeric_limits<S>::epsilon();
// This is *explicitly* testing for perfect bit equivalency. The two values
// should be absolutely the same.
EXPECT_EQ(constants<S>::eps(), expected_eps) << "Failed for " << type_name;
EXPECT_EQ(std::pow(expected_eps, S(0.5)), constants<S>::eps_12())
<< "Failed for " << type_name;
EXPECT_EQ(std::pow(expected_eps, S(0.75)), constants<S>::eps_34())
<< "Failed for " << type_name;
EXPECT_EQ(std::pow(expected_eps, S(0.875)), constants<S>::eps_78())
<< "Failed for " << type_name;
}
// Test that the values returned are truly a function of the precision of the
// underlying type.
GTEST_TEST(FCL_CONSTANTS_EPS, precision_dependent) {
expect_eps_values<double>("double");
expect_eps_values<float>("float");
// Double check that the float value and double values are *not* equal.
EXPECT_NE(constantsd::eps(), constantsf::eps());
EXPECT_NE(constantsd::eps_12(), constantsf::eps_12());
EXPECT_NE(constantsd::eps_34(), constantsf::eps_34());
EXPECT_NE(constantsd::eps_78(), constantsf::eps_78());
}
template <typename S> void expect_autodiff_constants(const char *type_name) {
EXPECT_TRUE((std::is_same<decltype(constants<AutoDiff2<S>>::pi()),
AutoDiff2<S>>::value))
<< "Failed for " << type_name;
EXPECT_TRUE((std::is_same<decltype(constants<AutoDiff2<S>>::phi()),
AutoDiff2<S>>::value))
<< "Failed for " << type_name;
EXPECT_TRUE(
(std::is_same<decltype(constants<AutoDiff2<S>>::eps()), S>::value))
<< "Failed for " << type_name;
EXPECT_TRUE(
(std::is_same<decltype(constants<AutoDiff2<S>>::eps_78()), S>::value))
<< "Failed for " << type_name;
EXPECT_TRUE(
(std::is_same<decltype(constants<AutoDiff2<S>>::eps_34()), S>::value))
<< "Failed for " << type_name;
EXPECT_TRUE(
(std::is_same<decltype(constants<AutoDiff2<S>>::eps_12()), S>::value))
<< "Failed for " << type_name;
}
// Test the types returned by constants. pi and phi should return autodiff, but
// the tolerances should return real types.
GTEST_TEST(FCL_CONSTANTS_EPS, autodiff_compatibility) {
expect_autodiff_constants<double>("double");
expect_autodiff_constants<float>("float");
}
} // namespace
} // namespace fcl
//==============================================================================
int main(int argc, char* argv[])
{
::testing::InitGoogleTest(&argc, argv);
return RUN_ALL_TESTS();
}
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