| Directory: | ./ |
|---|---|
| File: | unittest/gram-schmidt-orthonormalisation.cpp |
| Date: | 2025-02-12 21:03:38 |
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| Lines: | 13 | 13 | 100.0% |
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| 1 | // | ||
| 2 | // Copyright (c) 2024 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include <iostream> | ||
| 6 | |||
| 7 | #include <pinocchio/math/gram-schmidt-orthonormalisation.hpp> | ||
| 8 | #include <Eigen/QR> | ||
| 9 | |||
| 10 | #include <boost/variant.hpp> // to avoid C99 warnings | ||
| 11 | |||
| 12 | #include <boost/test/unit_test.hpp> | ||
| 13 | #include <boost/utility/binary.hpp> | ||
| 14 | |||
| 15 | BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) | ||
| 16 | |||
| 17 | using namespace pinocchio; | ||
| 18 | |||
| 19 |
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4 | BOOST_AUTO_TEST_CASE(test_random_matrix) |
| 20 | { | ||
| 21 |
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202 | for (size_t i = 0; i < 100; ++i) |
| 22 | { | ||
| 23 | 200 | const Eigen::DenseIndex size = 20; | |
| 24 |
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200 | const Eigen::MatrixXd random_mat = Eigen::MatrixXd::Random(size, size); |
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200 | const auto qr = random_mat.householderQr(); |
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200 | const Eigen::MatrixXd basis = qr.householderQ(); |
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200200 | for (size_t k = 0; k < 1000; ++k) |
| 29 | { | ||
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200000 | const Eigen::VectorXd random_vec = Eigen::VectorXd::Random(size); |
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200000 | orthonormalisation(basis.leftCols(10), random_vec); |
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200000 | BOOST_CHECK((basis.leftCols(10).transpose() * random_vec).isZero()); |
| 33 | 200000 | } | |
| 34 | 200 | } | |
| 35 | 2 | } | |
| 36 | |||
| 37 | BOOST_AUTO_TEST_SUITE_END() | ||
| 38 |