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// |
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// Copyright (c) 2019 INRIA |
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// |
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#include "pinocchio/multibody/model.hpp" |
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#include <Eigen/Core> |
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#include "pinocchio/math/matrix.hpp" |
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#include <boost/test/unit_test.hpp> |
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#include <boost/utility/binary.hpp> |
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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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BOOST_AUTO_TEST_CASE(test_matrix_matrix_product) |
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{ |
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using namespace pinocchio; |
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using namespace Eigen; |
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const Eigen::DenseIndex m = 20, n = 100; |
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MatrixXd M1(MatrixXd::Ones(m, n)), M2(MatrixXd::Ones(n, m)); |
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MatrixMatrixProduct<MatrixXd, MatrixXd>::type res = M1 * M2; |
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BOOST_CHECK(!res.eval().isZero()); |
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} |
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BOOST_AUTO_TEST_CASE(test_scalar_matrix_product) |
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{ |
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using namespace pinocchio; |
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using namespace Eigen; |
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const Eigen::DenseIndex m = 20, n = 100; |
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MatrixXd M(MatrixXd::Ones(m, n)); |
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const double alpha = 0.; |
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ScalarMatrixProduct<double, MatrixXd>::type res = alpha * M; |
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BOOST_CHECK(res.eval().isZero()); |
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} |
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BOOST_AUTO_TEST_CASE(test_matrix_scalar_product) |
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{ |
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using namespace pinocchio; |
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using namespace Eigen; |
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const Eigen::DenseIndex m = 20, n = 100; |
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MatrixXd M(MatrixXd::Ones(m, n)); |
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const double alpha = 1.; |
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MatrixScalarProduct<MatrixXd, double>::type res = M * alpha; |
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BOOST_CHECK(res.eval() == M); |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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