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// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA.
//
// This file is part of the roboptim.
//
// roboptim is free software: you can redistribute it and/or modify
// it under the terms of the GNU Lesser General Public License as published by
// the Free Software Foundation, either version 3 of the License, or
// (at your option) any later version.
//
// roboptim is distributed in the hope that it will be useful,
// but WITHOUT ANY WARRANTY; without even the implied warranty of
// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
// GNU Lesser General Public License for more details.
//
// You should have received a copy of the GNU Lesser General Public License
// along with roboptim. If not, see <http://www.gnu.org/licenses/>.
#include "shared-tests/fixture.hh"
#include <iostream>
#include <roboptim/core/io.hh>
#include <roboptim/core/visualization/gnuplot.hh>
#include <roboptim/core/visualization/gnuplot-commands.hh>
#include <roboptim/core/visualization/gnuplot-differentiable-function.hh>
using namespace roboptim;
using namespace roboptim::visualization;
// Define f(x) = forty_two(x)
struct Square : public DifferentiableFunction
{
explicit Square ()
: DifferentiableFunction (7, 7, "The Answer")
{
}
void impl_compute (result_t& result,
const argument_t& argument) const throw ()
{
result[0] = argument[0] + argument[4] + argument[5];
result[1] = argument[0] + argument[2] + argument[6];
result[2] = argument[0] + argument[2] + argument[6];
result[3] = argument[0] + argument[1] + argument[2] + argument[5];
result[4] = argument[2] + argument[4];
result[5] = argument[2] + argument[4];
result[6] = argument[2] + argument[4] + argument[5] + argument[6];
}
void impl_gradient (gradient_t&, const argument_t&, size_type)
const throw ()
{
}
void impl_jacobian (jacobian_t& jac, const argument_t&)
const throw ()
{
jac.setZero();
jac(0,0) = 1.0;
jac(0,4) = 1.0;
jac(0,5) = 1.0;
jac(1,0) = 1.0;
jac(1,2) = 1.0;
jac(1,6) = 1.0;
jac(2,0) = 1.0;
jac(2,2) = 1.0;
jac(2,6) = 1.0;
jac(3,0) = 1.0;
jac(3,1) = 1.0;
jac(3,2) = 1.0;
jac(3,5) = 1.0;
jac(4,2) = 1.0;
jac(4,4) = 1.0;
jac(5,2) = 1.0;
jac(5,4) = 1.0;
jac(6,2) = 1.0;
jac(6,4) = 1.0;
jac(6,5) = 1.0;
jac(6,6) = 1.0;
}
};
BOOST_FIXTURE_TEST_SUITE (core, TestSuiteConfiguration)
BOOST_AUTO_TEST_CASE (visualization_gnuplot_differentiable_function)
{
boost::shared_ptr<boost::test_tools::output_test_stream>
output = retrievePattern ("visualization-gnuplot-differentiable-function");
using namespace roboptim::visualization::gnuplot;
Gnuplot gnuplot = Gnuplot::make_interactive_gnuplot ();
Square square;
Square::vector_t arg(7);
arg.fill(1.0);
(*output)
<< (gnuplot
<< plot_jac (square, arg)
);
std::cout << output->str () << std::endl;
BOOST_CHECK (output->match_pattern ());
}
BOOST_AUTO_TEST_SUITE_END ()
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