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/*********************************************************************
* Software License Agreement (BSD License)
*
* Copyright (c) 2011, Rice University
* 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 the Rice University 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: Ioan Sucan */
#include <boost/test/unit_test.hpp>
#include "ompl/base/StateSpace.h"
#include "ompl/base/ScopedState.h"
#include "ompl/util/RandomNumbers.h"
#include <limits>
// define a convenience macro
#ifndef BOOST_OMPL_EXPECT_NEAR
#define BOOST_OMPL_EXPECT_NEAR(a, b, diff) BOOST_CHECK_SMALL((a) - (b), diff)
#endif
namespace ompl
{
/** \brief Encapsulate basic tests for state spaces. This class
should be used for every state space included with ompl, to
ensure basic functionality works. */
class StateSpaceTest
{
public:
/** \brief Construct a testing setup for state space \e
space. When samples need to be taken to ensure certain
functionality works, \e n samples are to be drawn. For
distance comparisons, use an error margin of \e eps. */
StateSpaceTest(const base::StateSpacePtr &space, int n = 1000, double eps = std::numeric_limits<double>::epsilon() * 10.0) :
space_(space), n_(n), eps_(eps)
{
}
~StateSpaceTest(void)
{
}
/** \brief Test that distances are always positive */
void testDistance(void)
{
base::ScopedState<> s1(space_);
base::ScopedState<> s2(space_);
for (int i = 0 ; i < n_ ; ++i)
{
s1.random();
BOOST_OMPL_EXPECT_NEAR(s1.distance(s1), 0.0, eps_);
s2.random();
if (s1 != s2)
{
double d12 = s1.distance(s2);
BOOST_CHECK(d12 > 0.0);
double d21 = s2.distance(s1);
BOOST_OMPL_EXPECT_NEAR(d12, d21, eps_);
}
}
}
/** \brief Test that interpolation works as expected and also test triangle inequality */
void testInterpolation(void)
{
base::ScopedState<> s1(space_);
base::ScopedState<> s2(space_);
base::ScopedState<> s3(space_);
for (int i = 0 ; i < n_ ; ++i)
{
s1.random(); s2.random(); s3.random();
space_->interpolate(s1.get(), s2.get(), 0.0, s3.get());
BOOST_OMPL_EXPECT_NEAR(s1.distance(s3), 0.0, eps_);
space_->interpolate(s1.get(), s2.get(), 1.0, s3.get());
BOOST_OMPL_EXPECT_NEAR(s2.distance(s3), 0.0, eps_);
space_->interpolate(s1.get(), s2.get(), 0.5, s3.get());
BOOST_OMPL_EXPECT_NEAR(s1.distance(s3) + s3.distance(s2), s1.distance(s2), eps_);
space_->interpolate(s3.get(), s2.get(), 0.5, s3.get());
space_->interpolate(s1.get(), s2.get(), 0.75, s2.get());
BOOST_OMPL_EXPECT_NEAR(s2.distance(s3), 0.0, eps_);
}
}
/** \brief Call all tests for the state space */
void test(void)
{
testDistance();
testInterpolation();
}
private:
base::StateSpacePtr space_;
RNG rng_;
int n_;
double eps_;
};
}
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