| Line | Branch | Exec | Source |
|---|---|---|---|
| 1 | #define BOOST_TEST_MODULE test_operations | ||
| 2 | |||
| 3 | #include <boost/test/included/unit_test.hpp> | ||
| 4 | |||
| 5 | #include "load_problem.h" | ||
| 6 | #include "ndcurves/bezier_curve.h" | ||
| 7 | #include "ndcurves/cubic_hermite_spline.h" | ||
| 8 | #include "ndcurves/curve_conversion.h" | ||
| 9 | #include "ndcurves/exact_cubic.h" | ||
| 10 | #include "ndcurves/fwd.h" | ||
| 11 | #include "ndcurves/helpers/effector_spline.h" | ||
| 12 | #include "ndcurves/helpers/effector_spline_rotation.h" | ||
| 13 | #include "ndcurves/optimization/definitions.h" | ||
| 14 | #include "ndcurves/piecewise_curve.h" | ||
| 15 | #include "ndcurves/polynomial.h" | ||
| 16 | #include "ndcurves/se3_curve.h" | ||
| 17 | #include "ndcurves/serialization/curves.hpp" | ||
| 18 | #include "ndcurves/so3_linear.h" | ||
| 19 | |||
| 20 | using namespace ndcurves; | ||
| 21 | |||
| 22 | BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) | ||
| 23 | |||
| 24 | 3555 | void compDouble(const double a, const double b) { | |
| 25 | #if BOOST_VERSION <= 105800 | ||
| 26 | BOOST_CHECK(std::abs(a - b) <= 0.001); | ||
| 27 | #else | ||
| 28 |
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3555 | BOOST_TEST(a == b, boost::test_tools::tolerance(0.001)); |
| 29 | #endif | ||
| 30 | 3555 | } | |
| 31 | |||
| 32 |
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4 | BOOST_AUTO_TEST_CASE(crossPoductBezier) { |
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2 | t_pointX_t vec1; |
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2 | t_pointX_t vec2; |
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10 | for (int i = 0; i < 4; ++i) { |
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8 | vec1.push_back(Eigen::Vector3d::Random()); |
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8 | vec2.push_back(Eigen::Vector3d::Random()); |
| 38 | } | ||
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8 | for (int i = 0; i < 3; ++i) { |
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6 | vec1.push_back(Eigen::Vector3d::Random()); |
| 41 | } | ||
| 42 |
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2 | bezier_t p1(vec1.begin(), vec1.end(), 0., 1.); |
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2 | bezier_t p2(vec2.begin(), vec2.end(), 0., 1.); |
| 44 | |||
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2 | bezier_t pCross(p1.cross(p2)); |
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204 | for (double i = 0.; i <= 100.; ++i) { |
| 47 | 202 | double dt = i / 100.; | |
| 48 |
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202 | Eigen::Vector3d v1 = p1(dt); |
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202 | Eigen::Vector3d v2 = p2(dt); |
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202 | compDouble((pCross(dt) - v1.cross(v2)).norm(), 0.); |
| 51 | } | ||
| 52 | 2 | } | |
| 53 | |||
| 54 |
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4 | BOOST_AUTO_TEST_CASE(bezierOperations) { |
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2 | t_pointX_t vec1; |
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2 | t_pointX_t vec2; |
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8 | for (int i = 0; i < 3; ++i) { |
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6 | vec1.push_back(Eigen::Vector3d::Random()); |
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6 | vec2.push_back(Eigen::Vector3d::Random()); |
| 60 | } | ||
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10 | for (int i = 0; i < 4; ++i) { |
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8 | vec1.push_back(Eigen::Vector3d::Random()); |
| 63 | } | ||
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2 | bezier_t p1(vec1.begin(), vec1.end(), 0.2, .8); |
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2 | bezier_t p2(vec2.begin(), vec2.end(), 0.2, .8); |
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2 | bezier_t p1Dev = p1.compute_derivate(2); |
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2 | bezier_t p3(vec2.begin(), vec2.end(), 0.2, 0.5); |
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2 | bezier_t p4(vec2.begin(), vec2.end(), 0.1, .8); |
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2 | bezier_t p5(vec2.begin(), vec2.end(), 0.1, .5); |
| 70 | 2 | double k = 10.2; | |
| 71 | |||
| 72 |
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4 | BOOST_CHECK_THROW(p1 + p3, std::exception); |
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4 | BOOST_CHECK_THROW(p1 - p3, std::exception); |
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4 | BOOST_CHECK_THROW(p1 + p4, std::exception); |
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4 | BOOST_CHECK_THROW(p1 - p4, std::exception); |
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4 | BOOST_CHECK_THROW(p1 + p5, std::exception); |
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4 | BOOST_CHECK_THROW(p1 - p5, std::exception); |
| 78 | |||
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2 | bezier_t pSum = p1 + p2; |
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2 | bezier_t pSumR = p2 + p1; |
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2 | bezier_t pSumDev = p1Dev + p2; |
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2 | bezier_t pSumRDev = p2 + p1Dev; |
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2 | bezier_t pSub = p1 - p2; |
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2 | bezier_t pSubR = p2 - p1; |
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2 | bezier_t pSubDev = p1Dev - p2; |
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2 | bezier_t pSubRDev = p2 - p1Dev; |
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2 | bezier_t pdiv = p1 / k; |
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2 | bezier_t pMul = p1 * k; |
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2 | bezier_t pMulR = k * p1; |
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2 | bezier_t pNeg = -p1; |
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124 | for (double i = 20; i <= 80.; ++i) { |
| 92 | 122 | double dt = i / 100.; | |
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122 | compDouble((pSum(dt) - (p1(dt) + p2(dt))).norm(), 0.); |
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122 | compDouble((pSumR(dt) - (p1(dt) + p2(dt))).norm(), 0.); |
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122 | compDouble((pSumDev(dt) - (p1Dev(dt) + p2(dt))).norm(), 0.); |
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122 | compDouble((pSumRDev(dt) - (p1Dev(dt) + p2(dt))).norm(), 0.); |
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122 | compDouble((pSub(dt) - (p1(dt) - p2(dt))).norm(), 0.); |
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122 | compDouble((pSubR(dt) - (p2(dt) - p1(dt))).norm(), 0.); |
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122 | compDouble((pSubDev(dt) - (p1Dev(dt) - p2(dt))).norm(), 0.); |
| 100 |
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122 | compDouble((pSubRDev(dt) - (p2(dt) - p1Dev(dt))).norm(), 0.); |
| 101 |
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122 | compDouble((pMul(dt) - p1(dt) * k).norm(), 0.); |
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122 | compDouble((pMulR(dt) - p1(dt) * k).norm(), 0.); |
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122 | compDouble((pdiv(dt) - p1(dt) / k).norm(), 0.); |
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122 | compDouble((pNeg(dt) + p1(dt)).norm(), 0); |
| 105 | } | ||
| 106 | |||
| 107 |
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2 | pSum = bezier_t(p1); |
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2 | pSum += p2; |
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2 | pSub = p1; |
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2 | pSub -= p2; |
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2 | pdiv = p1; |
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2 | pdiv /= k; |
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2 | pMul = p1; |
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2 | pMul *= k; |
| 115 |
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124 | for (double i = 20; i <= 80.; ++i) { |
| 116 | 122 | double dt = i / 100.; | |
| 117 |
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122 | compDouble((pSum(dt) - (p1(dt) + p2(dt))).norm(), 0.); |
| 118 |
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122 | compDouble((pSub(dt) - (p1(dt) - p2(dt))).norm(), 0.); |
| 119 |
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122 | compDouble((pMul(dt) - p1(dt) * k).norm(), 0.); |
| 120 |
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122 | compDouble((pdiv(dt) - p1(dt) / k).norm(), 0.); |
| 121 | } | ||
| 122 | 2 | } | |
| 123 | |||
| 124 |
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4 | BOOST_AUTO_TEST_CASE(bezierPointOperations) { |
| 125 |
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2 | t_pointX_t vec1; |
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14 | for (int i = 0; i < 6; ++i) { |
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12 | vec1.push_back(Eigen::Vector3d::Random()); |
| 128 | } | ||
| 129 | |||
| 130 |
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2 | bezier_t p1(vec1.begin(), vec1.end(), 0., 1.); |
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2 | Eigen::Vector3d point = bezier_t::point_t::Random(3); |
| 132 | |||
| 133 |
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2 | bezier_t pSum = p1 + point; |
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2 | bezier_t pSumR = point + p1; |
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2 | bezier_t pSub = p1 - point; |
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2 | bezier_t pSubR = point - p1; |
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2 | bezier_t pcross = p1.cross(point); |
| 138 |
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204 | for (double i = 0.; i <= 100.; ++i) { |
| 139 | 202 | double dt = i / 100.; | |
| 140 |
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202 | compDouble((pSum(dt) - (p1(dt) + point)).norm(), 0.); |
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202 | compDouble((pSumR(dt) - (p1(dt) + point)).norm(), 0.); |
| 142 |
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202 | compDouble((pSub(dt) - (p1(dt) - point)).norm(), 0.); |
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202 | compDouble((pSubR(dt) - (point - p1(dt))).norm(), 0.); |
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202 | Eigen::Vector3d p1dt = p1(dt); |
| 145 |
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202 | compDouble((pcross(dt) - (p1dt.cross(point))).norm(), 0.); |
| 146 | } | ||
| 147 | 2 | } | |
| 148 | |||
| 149 |
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4 | BOOST_AUTO_TEST_CASE(crossPoductLinearVariable) { |
| 150 |
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2 | linear_variable_t l1(Eigen::Matrix3d::Identity() * 5., |
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4 | Eigen::Vector3d::Random()); |
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2 | linear_variable_t l2(Eigen::Matrix3d::Identity() * 1., |
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4 | Eigen::Vector3d::Random()); |
| 154 |
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2 | linear_variable_t lE(Eigen::Matrix3d::Random(), Eigen::Vector3d::Random()); |
| 155 |
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4 | BOOST_CHECK_THROW(l1.cross(lE), std::exception); |
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4 | BOOST_CHECK_THROW(lE.cross(l1), std::exception); |
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2 | linear_variable_t lcross = l1.cross(l2); |
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22 | for (int i = 0; i < 10; ++i) { |
| 159 |
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20 | Eigen::Vector3d x = Eigen::Vector3d::Random(); |
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20 | Eigen::Vector3d v1 = l1(x); |
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20 | Eigen::Vector3d v2 = l2(x); |
| 162 |
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20 | compDouble((lcross(x) - v1.cross(v2)).norm(), 0.); |
| 163 | } | ||
| 164 | 2 | } | |
| 165 | |||
| 166 |
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4 | BOOST_AUTO_TEST_CASE(crossProductBezierLinearVariable) { |
| 167 |
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2 | bezier_linear_variable_t::t_point_t vec1; |
| 168 |
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2 | bezier_linear_variable_t::t_point_t vec2; |
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2 | bezier_linear_variable_t::t_point_t zeroVec; |
| 170 |
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8 | for (int i = 0; i < 3; ++i) { |
| 171 |
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6 | vec1.push_back(linear_variable_t(Eigen::Matrix3d::Identity() * i, |
| 172 |
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6 | Eigen::Vector3d::Random())); |
| 173 |
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6 | vec2.push_back(linear_variable_t(Eigen::Matrix3d::Identity() * i, |
| 174 |
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6 | Eigen::Vector3d::Random())); |
| 175 |
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6 | zeroVec.push_back(linear_variable_t()); |
| 176 | } | ||
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6 | for (int i = 0; i < 2; ++i) { |
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4 | vec1.push_back(linear_variable_t(Eigen::Matrix3d::Identity() * i, |
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8 | Eigen::Vector3d::Random())); |
| 180 | } | ||
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2 | bezier_linear_variable_t p1(vec1.begin(), vec1.end(), 0., 1.); |
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2 | bezier_linear_variable_t p2(vec2.begin(), vec2.end(), 0., 1.); |
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2 | bezier_linear_variable_t pZero(zeroVec.begin(), zeroVec.end(), 0., 1.); |
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2 | bezier_linear_variable_t pCross(p1.cross(p2)); |
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2 | bezier_linear_variable_t pCrossZero(p1.cross(pZero)); |
| 186 | bezier_linear_variable_t primitive = | ||
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2 | pCross.compute_primitive(1, *vec1.begin()); |
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6 | for (double i = 0.; i <= 1.; ++i) { |
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4 | Eigen::Vector3d x = Eigen::Vector3d::Random(); |
| 190 | bezier_t fcross = | ||
| 191 |
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4 | evaluateLinear<bezier_t, bezier_linear_variable_t>(pCross, x); |
| 192 | bezier_t fCrossZero = | ||
| 193 |
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4 | evaluateLinear<bezier_t, bezier_linear_variable_t>(pCrossZero, x); |
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4 | bezier_t f1 = evaluateLinear<bezier_t, bezier_linear_variable_t>(p1, x); |
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4 | bezier_t f2 = evaluateLinear<bezier_t, bezier_linear_variable_t>(p2, x); |
| 196 |
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48 | for (double i = 0.; i <= 10.; ++i) { |
| 197 | 44 | double dt = i / 10.; | |
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44 | Eigen::Vector3d v1 = f1(dt); |
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44 | Eigen::Vector3d v2 = f2(dt); |
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44 | compDouble((fcross(dt) - v1.cross(v2)).norm(), 0.); |
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44 | compDouble((fCrossZero(dt)).norm(), 0.); |
| 202 | } | ||
| 203 | 4 | } | |
| 204 | 2 | } | |
| 205 | |||
| 206 |
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4 | BOOST_AUTO_TEST_CASE(polynomialPointOperations) { |
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2 | polynomial_t::coeff_t coeffs1 = Eigen::MatrixXd::Random(3, 5); |
| 208 |
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2 | Eigen::Vector3d point = Eigen::Vector3d::Random(3); |
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2 | polynomial_t p1(coeffs1, 0., 1.); |
| 210 | |||
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2 | polynomial_t pSum = p1 + point; |
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2 | polynomial_t pSumR = point + p1; |
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2 | polynomial_t pSub = p1 - point; |
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2 | polynomial_t pSubR = point - p1; |
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2 | polynomial_t pcross = p1.cross(point); |
| 216 |
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204 | for (double i = 0.; i <= 100.; ++i) { |
| 217 | 202 | double dt = i / 100.; | |
| 218 |
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202 | compDouble((pSum(dt) - (p1(dt) + point)).norm(), 0.); |
| 219 |
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202 | compDouble((pSumR(dt) - (p1(dt) + point)).norm(), 0.); |
| 220 |
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202 | compDouble((pSub(dt) - (p1(dt) - point)).norm(), 0.); |
| 221 |
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202 | compDouble((pSubR(dt) - (point - p1(dt))).norm(), 0.); |
| 222 |
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202 | Eigen::Vector3d p1dt = p1(dt); |
| 223 |
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202 | compDouble((pcross(dt) - (p1dt.cross(point))).norm(), 0.); |
| 224 | } | ||
| 225 | 2 | } | |
| 226 | |||
| 227 |
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4 | BOOST_AUTO_TEST_CASE(polynomialOperations) { |
| 228 |
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2 | polynomial_t::coeff_t coeffs1 = Eigen::MatrixXd::Random(3, 5); |
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2 | polynomial_t::coeff_t coeffs2 = Eigen::MatrixXd::Random(3, 2); |
| 230 |
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2 | polynomial_t p1(coeffs1, 0., 1.); |
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2 | polynomial_t p2(coeffs2, 0., 1.); |
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2 | polynomial_t p3(coeffs2, 0., 0.5); |
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2 | polynomial_t p4(coeffs2, 0.1, 1.); |
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2 | polynomial_t p5(coeffs2, 0.1, .5); |
| 235 | 2 | double k = 10.2; | |
| 236 | |||
| 237 |
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4 | BOOST_CHECK_THROW(p1 + p3, std::exception); |
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4 | BOOST_CHECK_THROW(p1 - p3, std::exception); |
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4 | BOOST_CHECK_THROW(p1 + p4, std::exception); |
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4 | BOOST_CHECK_THROW(p1 - p4, std::exception); |
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4 | BOOST_CHECK_THROW(p1 + p5, std::exception); |
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4 | BOOST_CHECK_THROW(p1 - p5, std::exception); |
| 243 | |||
| 244 |
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2 | polynomial_t pSum = p1 + p2; |
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2 | polynomial_t pSumR = p2 + p1; |
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2 | polynomial_t pSub = p1 - p2; |
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2 | polynomial_t pSubR = p2 - p1; |
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2 | polynomial_t pdiv = p1 / k; |
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2 | polynomial_t pMul = p1 * k; |
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2 | polynomial_t pMulR = k * p1; |
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2 | polynomial_t pNeg = -p1; |
| 252 |
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204 | for (double i = 0.; i <= 100.; ++i) { |
| 253 | 202 | double dt = i / 100.; | |
| 254 |
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202 | compDouble((pSum(dt) - (p1(dt) + p2(dt))).norm(), 0.); |
| 255 |
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202 | compDouble((pSumR(dt) - (p1(dt) + p2(dt))).norm(), 0.); |
| 256 |
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202 | compDouble((pSub(dt) - (p1(dt) - p2(dt))).norm(), 0.); |
| 257 |
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202 | compDouble((pSubR(dt) - (p2(dt) - p1(dt))).norm(), 0.); |
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202 | compDouble((pMul(dt) - p1(dt) * k).norm(), 0.); |
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202 | compDouble((pMulR(dt) - p1(dt) * k).norm(), 0.); |
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202 | compDouble((pdiv(dt) - p1(dt) / k).norm(), 0.); |
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202 | compDouble((pNeg(dt) + p1(dt)).norm(), 0); |
| 262 | } | ||
| 263 | |||
| 264 |
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2 | pSum = polynomial_t(p1); |
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2 | pSum += p2; |
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2 | pSub = p1; |
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2 | pSub -= p2; |
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2 | pdiv = p1; |
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2 | pdiv /= k; |
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2 | pMul = p1; |
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2 | pMul *= k; |
| 272 |
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204 | for (double i = 0.; i <= 100.; ++i) { |
| 273 | 202 | double dt = i / 100.; | |
| 274 |
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202 | compDouble((pSum(dt) - (p1(dt) + p2(dt))).norm(), 0.); |
| 275 |
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202 | compDouble((pSub(dt) - (p1(dt) - p2(dt))).norm(), 0.); |
| 276 |
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202 | compDouble((pMul(dt) - p1(dt) * k).norm(), 0.); |
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202 | compDouble((pdiv(dt) - p1(dt) / k).norm(), 0.); |
| 278 | } | ||
| 279 | 2 | } | |
| 280 | |||
| 281 |
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4 | BOOST_AUTO_TEST_CASE(crossPoductPolynomials) { |
| 282 |
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2 | polynomial_t::coeff_t coeffs1 = Eigen::MatrixXd::Random(3, 5); |
| 283 |
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2 | polynomial_t::coeff_t coeffs2 = Eigen::MatrixXd::Random(3, 2); |
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2 | polynomial_t::coeff_t coeffsDim4 = Eigen::MatrixXd::Random(4, 2); |
| 285 |
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2 | polynomial_t p1(coeffs1, 0., 1.); |
| 286 |
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2 | polynomial_t p2(coeffs2, 0., 1.); |
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2 | polynomial_t p3(coeffs2, 0., 0.5); |
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2 | polynomial_t p4(coeffs2, 0.1, 1.); |
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2 | polynomial_t p5(coeffs2, 0.1, .5); |
| 290 |
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2 | polynomial_t pDim4(coeffsDim4, 0., 1.); |
| 291 | |||
| 292 | // testing reduction | ||
| 293 |
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2 | BOOST_CHECK_EQUAL(p1.cross(p1).degree(), 0); |
| 294 | |||
| 295 |
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4 | BOOST_CHECK_THROW(p1.cross(p3), std::exception); |
| 296 |
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4 | BOOST_CHECK_THROW(p1.cross(p4), std::exception); |
| 297 |
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4 | BOOST_CHECK_THROW(p1.cross(p5), std::exception); |
| 298 |
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4 | BOOST_CHECK_THROW(p1.cross(pDim4), std::exception); |
| 299 |
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4 | BOOST_CHECK_THROW(pDim4.cross(p1), std::exception); |
| 300 | |||
| 301 |
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2 | polynomial_t pCross = p1.cross(p2); |
| 302 |
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204 | for (double i = 0.; i <= 100.; ++i) { |
| 303 | 202 | double dt = i / 100.; | |
| 304 |
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202 | Eigen::Vector3d v1 = p1(dt); |
| 305 |
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202 | Eigen::Vector3d v2 = p2(dt); |
| 306 |
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202 | compDouble((pCross(dt) - v1.cross(v2)).norm(), 0.); |
| 307 | } | ||
| 308 | 2 | } | |
| 309 | |||
| 310 |
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4 | BOOST_AUTO_TEST_CASE(crossPoductPolynomialSimplification) { |
| 311 |
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2 | polynomial_t::coeff_t coeffs1 = Eigen::MatrixXd::Random(3, 5); |
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2 | polynomial_t::coeff_t coeffs2 = Eigen::MatrixXd::Random(3, 3); |
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2 | coeffs2.col(2) = coeffs1.col(4); |
| 314 |
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2 | polynomial_t p1(coeffs1, 0., 1.); |
| 315 |
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2 | polynomial_t p2(coeffs2, 0., 1.); |
| 316 | |||
| 317 |
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2 | polynomial_t pCross = p1.cross(p2); |
| 318 |
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2 | BOOST_CHECK_EQUAL(pCross.degree(), 5); |
| 319 |
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204 | for (double i = 0.; i <= 100.; ++i) { |
| 320 | 202 | double dt = i / 100.; | |
| 321 |
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202 | Eigen::Vector3d v1 = p1(dt); |
| 322 |
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202 | Eigen::Vector3d v2 = p2(dt); |
| 323 |
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202 | compDouble((pCross(dt) - v1.cross(v2)).norm(), 0.); |
| 324 | } | ||
| 325 | 2 | } | |
| 326 | |||
| 327 | BOOST_AUTO_TEST_SUITE_END() | ||
| 328 |