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// |
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// Copyright (c) 2019 INRIA |
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// |
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#include "pinocchio/math/tensor.hpp" |
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#include "pinocchio/multibody/model.hpp" |
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#include <boost/test/unit_test.hpp> |
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#include <boost/utility/binary.hpp> |
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#include <iostream> |
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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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BOOST_AUTO_TEST_CASE(test_emulate_tensors) |
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{ |
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typedef double Scalar; |
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const int rank = 3; |
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typedef pinocchio::Tensor<Scalar, rank> Tensor; |
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const Eigen::DenseIndex x_dim = 6, y_dim = 20, z_dim = 20; |
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Tensor tensor1(x_dim, y_dim, z_dim), tensor1_bis(x_dim, y_dim, z_dim); |
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BOOST_CHECK(tensor1.size() == x_dim * y_dim * z_dim); |
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BOOST_CHECK(tensor1.dimension(0) == x_dim); |
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BOOST_CHECK(tensor1.dimension(1) == y_dim); |
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BOOST_CHECK(tensor1.dimension(2) == z_dim); |
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Scalar * data = tensor1.data(); |
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for (Eigen::DenseIndex k = 0; k < tensor1.size(); ++k) |
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data[k] = (Scalar)k; |
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for (Eigen::DenseIndex k = 0; k < z_dim; ++k) |
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{ |
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for (Eigen::DenseIndex j = 0; j < y_dim; ++j) |
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{ |
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for (Eigen::DenseIndex i = 0; i < x_dim; ++i) |
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{ |
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BOOST_CHECK(tensor1(i, j, k) == (Scalar)(i + j * x_dim + k * (x_dim * y_dim))); |
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} |
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} |
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} |
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const Eigen::DenseIndex new_x_dim = 2 * x_dim, new_y_dim = 2 * y_dim, new_z_dim = 2 * z_dim; |
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const Eigen::array<Tensor::Index, rank> dims = {x_dim, y_dim, z_dim}; |
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tensor1.resize(dims); |
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BOOST_CHECK(tensor1.size() == tensor1_bis.size()); |
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for (std::size_t i = 0; i < rank; ++i) |
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BOOST_CHECK(tensor1.dimension(i) == dims[i]); |
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const Eigen::array<Tensor::Index, rank> new_dims = {new_x_dim, new_y_dim, new_z_dim}; |
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tensor1.resize(new_dims); |
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BOOST_CHECK(tensor1.size() == 8 * tensor1_bis.size()); |
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for (std::size_t i = 0; i < rank; ++i) |
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BOOST_CHECK(tensor1.dimension(i) == new_dims[i]); |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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