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/* -------------------------------------------------------------------------- *
* Simbody(tm): SimTKcommon *
* -------------------------------------------------------------------------- *
* This is part of the SimTK biosimulation toolkit originating from *
* Simbios, the NIH National Center for Physics-Based Simulation of *
* Biological Structures at Stanford, funded under the NIH Roadmap for *
* Medical Research, grant U54 GM072970. See https://simtk.org/home/simbody. *
* *
* Portions copyright (c) 2007-12 Stanford University and the Authors. *
* Authors: Peter Eastman *
* Contributors: *
* *
* Licensed under the Apache License, Version 2.0 (the "License"); you may *
* not use this file except in compliance with the License. You may obtain a *
* copy of the License at http://www.apache.org/licenses/LICENSE-2.0. *
* *
* Unless required by applicable law or agreed to in writing, software *
* distributed under the License is distributed on an "AS IS" BASIS, *
* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. *
* See the License for the specific language governing permissions and *
* limitations under the License. *
* -------------------------------------------------------------------------- */
#include "SimTKcommon.h"
#include <iostream>
#define ASSERT(cond) {SimTK_ASSERT_ALWAYS((cond), "Assertion failed");}
#define ASSERT_EQUAL(val1, val2) {ASSERT(std::abs((val1)-(val2)) < 1e-10);}
using std::cout;
using std::endl;
using namespace SimTK;
using namespace std;
static Real sqrt(int a) {return std::sqrt(Real(a));}
static Real sin(int a) {return std::sin(Real(a));}
static Real cos(int a) {return std::cos(Real(a));}
static Real tan(int a) {return std::tan(Real(a));}
static Real asin(int a) {return std::asin(Real(a));}
static Real acos(int a) {return std::acos(Real(a));}
static Real atan(int a) {return std::atan(Real(a));}
static Real exp(int a) {return std::exp(Real(a));}
static Real log(int a) {return std::log(Real(a));}
static Real cosh(int a) {return std::cosh(Real(a));}
static Real sinh(int a) {return std::sinh(Real(a));}
static Real tanh(int a) {return std::tanh(Real(a));}
template <class T, int N>
void testVector(const T& value, const Vec<N>& expected) {
ASSERT(value.size() == N);
for (int i = 0; i < N; ++i) {
if (isNaN(expected[i])) {
ASSERT(isNaN(value[i]));
}
else {
ASSERT_EQUAL(value[i], expected[i]);
}
}
}
template <class T, int M, int N>
void testMatrix(const T& value, const Mat<M, N>& expected) {
ASSERT(value.nrow() == M);
ASSERT(value.ncol() == N);
for (int i = 0; i < M; ++i)
for (int j = 0; j < N; ++j) {
if (isNaN(expected(i, j))) {
ASSERT(isNaN(value(i, j)));
}
else {
ASSERT_EQUAL(value(i, j), expected(i, j));
}
}
}
template <class T, int N>
void testSymMat(const T& value, const SymMat<N>& expected) {
ASSERT(value.nrow() == N);
for (int i = 0; i < N; ++i)
for (int j = 0; j <= i; ++j) {
if (isNaN(expected(i, j))) {
ASSERT(isNaN(value(i, j)));
}
else {
ASSERT_EQUAL(value(i, j), expected(i, j));
}
}
}
int main() {
try {
// Create a bunch of vectors and matrices that will be used for testing.
Vector vector(5);
vector[0] = -1;
vector[1] = 2;
vector[2] = -3;
vector[3] = 4;
vector[4] = -5;
RowVector rowvector = ~vector;
Vec5 vec = Vec5(-1, 2, -3, 4, -5);
Row5 row = Row5(-1, 2, -3, 4, -5);
Matrix matrix(2, 3);
matrix[0][0] = -1;
matrix[0][1] = 2;
matrix[0][2] = -3;
matrix[1][0] = 4;
matrix[1][1] = -5;
matrix[1][2] = 6;
Mat<2,3> mat = Mat<2,3>(-1, 2, -3,
4, -5, 6);
Real temp[] = {-1, 2, -3};
SymMat<2> symmat = SymMat<2>(temp);
// Test the abs function.
Vec5 expectedVec = Vec5(1, 2, 3, 4, 5);
Mat<2,3> expectedMat = Mat<2,3>(1, 2, 3,
4, 5, 6);
testVector(abs(vector), expectedVec);
testVector(abs(rowvector), expectedVec);
testVector(abs(vec), expectedVec);
testVector(abs(row), expectedVec);
testMatrix<Matrix,2,3>(abs(matrix), expectedMat);
testMatrix<Mat<2,3>,2,3>(abs(mat), expectedMat);
testSymMat(abs(symmat), SymMat<2>(Mat22(1, 2,
2, 3)));
// Test the exp function.
expectedVec = Vec5(exp(-1), exp(2), exp(-3), exp(4), exp(-5));
expectedMat = Mat<2,3>(exp(-1), exp( 2), exp(-3),
exp( 4), exp(-5), exp( 6));
testVector(exp(vector), expectedVec);
testVector(exp(rowvector), expectedVec);
testVector(exp(vec), expectedVec);
testVector(exp(row), expectedVec);
testMatrix<Matrix,2,3>(exp(matrix), expectedMat);
testMatrix<Mat<2,3>,2,3>(exp(mat), expectedMat);
testSymMat(exp(symmat), SymMat<2>(Mat22(exp(-1), exp( 2),
exp( 2), exp(-3))));
// Test the log function.
expectedVec = Vec5(log(-1), log(2), log(-3), log(4), log(-5));
expectedMat = Mat<2,3>(log(-1), log(2), log(-3), log(4), log(-5), log(6));
testVector(log(vector), expectedVec);
testVector(log(rowvector), expectedVec);
testVector(log(vec), expectedVec);
testVector(log(row), expectedVec);
testMatrix<Matrix,2,3>(log(matrix), expectedMat);
testMatrix<Mat<2,3>,2,3>(log(mat), expectedMat);
testSymMat(log(symmat), SymMat<2>(Mat22(log(-1), log(2),
log(2), log(-3))));
// Test the sqrt function.
expectedVec = Vec5(sqrt(-1), sqrt(2), sqrt(-3), sqrt(4), sqrt(-5));
expectedMat = Mat<2,3>(sqrt(-1), sqrt(2), sqrt(-3), sqrt(4), sqrt(-5), sqrt(6));
testVector(sqrt(vector), expectedVec);
testVector(sqrt(rowvector), expectedVec);
testVector(sqrt(vec), expectedVec);
testVector(sqrt(row), expectedVec);
testMatrix<Matrix,2,3>(sqrt(matrix), expectedMat);
testMatrix<Mat<2,3>,2,3>(sqrt(mat), expectedMat);
testSymMat(sqrt(symmat), SymMat<2>(Mat22(sqrt(-1), sqrt(2),
sqrt(2), sqrt(-3))));
// Test the sin function.
expectedVec = Vec5(sin(-1), sin(2), sin(-3), sin(4), sin(-5));
expectedMat = Mat<2,3>(sin(-1), sin(2), sin(-3), sin(4), sin(-5), sin(6));
testVector(sin(vector), expectedVec);
testVector(sin(rowvector), expectedVec);
testVector(sin(vec), expectedVec);
testVector(sin(row), expectedVec);
testMatrix<Matrix,2,3>(sin(matrix), expectedMat);
testMatrix<Mat<2,3>,2,3>(sin(mat), expectedMat);
testSymMat(sin(symmat), SymMat<2>(Mat22(sin(-1), sin(2),
sin(2), sin(-3))));
// Test the cos function.
expectedVec = Vec5(cos(-1), cos(2), cos(-3), cos(4), cos(-5));
expectedMat = Mat<2,3>(cos(-1), cos(2), cos(-3), cos(4), cos(-5), cos(6));
testVector(cos(vector), expectedVec);
testVector(cos(rowvector), expectedVec);
testVector(cos(vec), expectedVec);
testVector(cos(row), expectedVec);
testMatrix<Matrix,2,3>(cos(matrix), expectedMat);
testMatrix<Mat<2,3>,2,3>(cos(mat), expectedMat);
testSymMat(cos(symmat), SymMat<2>(Mat22(cos(-1), cos(2),
cos(2), cos(-3))));
// Test the tan function.
expectedVec = Vec5(tan(-1), tan(2), tan(-3), tan(4), tan(-5));
expectedMat = Mat<2,3>(tan(-1), tan(2), tan(-3), tan(4), tan(-5), tan(6));
testVector(tan(vector), expectedVec);
testVector(tan(rowvector), expectedVec);
testVector(tan(vec), expectedVec);
testVector(tan(row), expectedVec);
testMatrix<Matrix,2,3>(tan(matrix), expectedMat);
testMatrix<Mat<2,3>,2,3>(tan(mat), expectedMat);
testSymMat(tan(symmat), SymMat<2>(Mat22(tan(-1), tan(2),
tan(2), tan(-3))));
// Test the asin function.
expectedVec = Vec5(asin(-1), asin(2), asin(-3), asin(4), asin(-5));
expectedMat = Mat<2,3>(asin(-1), asin(2), asin(-3), asin(4), asin(-5), asin(6));
testVector(asin(vector), expectedVec);
testVector(asin(rowvector), expectedVec);
testVector(asin(vec), expectedVec);
testVector(asin(row), expectedVec);
testMatrix<Matrix,2,3>(asin(matrix), expectedMat);
testMatrix<Mat<2,3>,2,3>(asin(mat), expectedMat);
testSymMat(asin(symmat), SymMat<2>(Mat22(asin(-1), asin(2),
asin(2), asin(-3))));
// Test the asin function.
expectedVec = Vec5(acos(-1), acos(2), acos(-3), acos(4), acos(-5));
expectedMat = Mat<2,3>(acos(-1), acos(2), acos(-3), acos(4), acos(-5), acos(6));
testVector(acos(vector), expectedVec);
testVector(acos(rowvector), expectedVec);
testVector(acos(vec), expectedVec);
testVector(acos(row), expectedVec);
testMatrix<Matrix,2,3>(acos(matrix), expectedMat);
testMatrix<Mat<2,3>,2,3>(acos(mat), expectedMat);
testSymMat(acos(symmat), SymMat<2>(Mat22(acos(-1), acos(2),
acos(2), acos(-3))));
// Test the atan function.
expectedVec = Vec5(atan(-1), atan(2), atan(-3), atan(4), atan(-5));
expectedMat = Mat<2,3>(atan(-1), atan(2), atan(-3), atan(4), atan(-5), atan(6));
testVector(atan(vector), expectedVec);
testVector(atan(rowvector), expectedVec);
testVector(atan(vec), expectedVec);
testVector(atan(row), expectedVec);
testMatrix<Matrix,2,3>(atan(matrix), expectedMat);
testMatrix<Mat<2,3>,2,3>(atan(mat), expectedMat);
testSymMat(atan(symmat), SymMat<2>(Mat22(atan(-1), atan(2),
atan(2), atan(-3))));
// Test the sinh function.
expectedVec = Vec5(sinh(-1), sinh(2), sinh(-3), sinh(4), sinh(-5));
expectedMat = Mat<2,3>(sinh(-1), sinh(2), sinh(-3), sinh(4), sinh(-5), sinh(6));
testVector(sinh(vector), expectedVec);
testVector(sinh(rowvector), expectedVec);
testVector(sinh(vec), expectedVec);
testVector(sinh(row), expectedVec);
testMatrix<Matrix,2,3>(sinh(matrix), expectedMat);
testMatrix<Mat<2,3>,2,3>(sinh(mat), expectedMat);
testSymMat(sinh(symmat), SymMat<2>(Mat22(sinh(-1), sinh(2),
sinh(2), sinh(-3))));
// Test the cosh function.
expectedVec = Vec5(cosh(-1), cosh(2), cosh(-3), cosh(4), cosh(-5));
expectedMat = Mat<2,3>(cosh(-1), cosh(2), cosh(-3), cosh(4), cosh(-5), cosh(6));
testVector(cosh(vector), expectedVec);
testVector(cosh(rowvector), expectedVec);
testVector(cosh(vec), expectedVec);
testVector(cosh(row), expectedVec);
testMatrix<Matrix,2,3>(cosh(matrix), expectedMat);
testMatrix<Mat<2,3>,2,3>(cosh(mat), expectedMat);
testSymMat(cosh(symmat), SymMat<2>(Mat22(cosh(-1), cosh(2),
cosh(2), cosh(-3))));
// Test the tanh function.
expectedVec = Vec5(tanh(-1), tanh(2), tanh(-3), tanh(4), tanh(-5));
expectedMat = Mat<2,3>(tanh(-1), tanh(2), tanh(-3), tanh(4), tanh(-5), tanh(6));
testVector(tanh(vector), expectedVec);
testVector(tanh(rowvector), expectedVec);
testVector(tanh(vec), expectedVec);
testVector(tanh(row), expectedVec);
testMatrix<Matrix,2,3>(tanh(matrix), expectedMat);
testMatrix<Mat<2,3>,2,3>(tanh(mat), expectedMat);
testSymMat(tanh(symmat), SymMat<2>(Mat22(tanh(-1), tanh(2),
tanh(2), tanh(-3))));
// Test the sum function.
ASSERT_EQUAL(sum(vector), -3);
ASSERT_EQUAL(sum(rowvector), -3);
ASSERT_EQUAL(sum(vec), -3);
ASSERT_EQUAL(sum(row), -3);
testVector(sum(matrix), Vec3(3, -3, 3));
testVector(sum(mat), Vec3(3, -3, 3));
testVector(sum(symmat), Vec2(1, -1));
// Test the min function.
ASSERT_EQUAL(min(vector), -5);
ASSERT_EQUAL(min(rowvector), -5);
ASSERT_EQUAL(min(vec), -5);
ASSERT_EQUAL(min(row), -5);
testVector(min(matrix), Vec3(-1, -5, -3));
testVector(min(mat), Vec3(-1, -5, -3));
testVector(min(symmat), Vec2(-1, -3));
// Test the max function.
ASSERT_EQUAL(max(vector), 4);
ASSERT_EQUAL(max(rowvector), 4);
ASSERT_EQUAL(max(vec), 4);
ASSERT_EQUAL(max(row), 4);
testVector(max(matrix), Vec3(4, 2, 6));
testVector(max(mat), Vec3(4, 2, 6));
testVector(max(symmat), Vec2(2, 2));
// Test the mean function.
ASSERT_EQUAL(mean(vector), -0.6);
ASSERT_EQUAL(mean(rowvector), -0.6);
ASSERT_EQUAL(mean(vec), -0.6);
ASSERT_EQUAL(mean(row), -0.6);
testVector(mean(matrix), Vec3(1.5, -1.5, 1.5));
testVector(mean(mat), Vec3(1.5, -1.5, 1.5));
testVector(mean(symmat), Vec2(0.5, -0.5));
// Test the sort function.
expectedVec = Vec5(-5, -3, -1, 2, 4);
expectedMat = Mat<2,3>(-1, -5, -3, 4, 2, 6);
testVector(sort(vector), expectedVec);
testVector(sort(rowvector), expectedVec);
testVector(sort(vec), expectedVec);
testVector(sort(row), expectedVec);
testMatrix<Matrix,2,3>(sort(matrix), expectedMat);
testMatrix<Mat<2,3>,2,3>(sort(mat), expectedMat);
testMatrix<Mat<2,2>,2,2>(sort(symmat), Mat22(-1, -3,
2, 2));
// Test the median function.
ASSERT_EQUAL(median(vector), -1);
ASSERT_EQUAL(median(rowvector), -1);
ASSERT_EQUAL(median(vec), -1);
ASSERT_EQUAL(median(row), -1);
testVector(median(matrix), Vec3(1.5, -1.5, 1.5));
testVector(median(mat), Vec3(1.5, -1.5, 1.5));
testVector(median(symmat), Vec2(0.5, -0.5));
ASSERT_EQUAL(median(Vec6(6, 1, 5, 2, 4, 3)), 3.5);
} catch(const std::exception& e) {
cout << "exception: " << e.what() << endl;
return 1;
}
cout << "Done" << endl;
return 0;
}
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