1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
|
#include "tp_debug.h"
#include "greatest.h"
#include "blendmath.h"
#include "tp_types.h"
#include "math.h"
#include "rtapi.h"
/* Expand to all the definitions that need to be in
the test runner's main file. */
GREATEST_MAIN_DEFS();
// KLUDGE fix link error the ugly way
void rtapi_print_msg(msg_level_t level, const char *fmt, ...)
{
va_list args;
va_start(args, fmt);
printf(fmt, args);
va_end(args);
}
TEST pmCartCartParallel_numerical() {
PmCartesian u0 = {1,0,0};
PmCartesian u_close = {cos(TP_ANGLE_EPSILON), sin(TP_ANGLE_EPSILON), 0};
ASSERT(pmCartCartParallel(&u0, &u0, TP_ANGLE_EPSILON_SQ));
ASSERT_FALSE(pmCartCartParallel(&u0, &u_close, 0.0));
// Test that the tolerance makes sense
ASSERT_FALSE(pmCartCartParallel(&u0, &u_close, 0.5*TP_ANGLE_EPSILON_SQ));
ASSERT(pmCartCartParallel(&u0, &u_close, 1.5*TP_ANGLE_EPSILON_SQ));
// Try a bunch of other angles including anti-parallel
for (double k=1; k <= 7; ++k) {
PmCartesian u_far = {cos(PM_PI_4 * k), sin(PM_PI_4 * k), 0};
ASSERT_FALSE(pmCartCartParallel(&u0, &u_far, TP_ANGLE_EPSILON_SQ));
}
PASS();
}
TEST pmCartCartAntiParallel_numerical() {
PmCartesian u0 = {1,0,0};
PmCartesian u_close = {-cos(TP_ANGLE_EPSILON), sin(TP_ANGLE_EPSILON), 0};
PmCartesian u_opposite;
pmCartScalMult(&u0, -1.0, &u_opposite);
ASSERT(pmCartCartAntiParallel(&u0, &u_opposite, TP_ANGLE_EPSILON_SQ));
ASSERT_FALSE(pmCartCartAntiParallel(&u0, &u_close, 0.0));
// Test that the tolerance makes sense
ASSERT_FALSE(pmCartCartAntiParallel(&u0, &u_close, 0.5*TP_ANGLE_EPSILON_SQ));
ASSERT(pmCartCartAntiParallel(&u0, &u_close, 1.5*TP_ANGLE_EPSILON_SQ));
// Try a bunch of other angles including anti-parallel
for (double k=1; k <= 7; ++k) {
PmCartesian u_far = {-cos(PM_PI_4 * k), sin(PM_PI_4 * k), 0};
ASSERT_FALSE(pmCartCartAntiParallel(&u0, &u_far, TP_ANGLE_EPSILON_SQ));
}
PASS();
}
SUITE(blendmath) {
RUN_TEST(pmCartCartParallel_numerical);
RUN_TEST(pmCartCartAntiParallel_numerical);
}
int main(int argc, char **argv) {
GREATEST_MAIN_BEGIN(); /* command-line arguments, initialization. */
RUN_SUITE(blendmath); /* run a suite */
GREATEST_MAIN_END(); /* display results */
}
|
