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// |
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// Copyright (c) 2024 INRIA |
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// |
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#include <iostream> |
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#include <pinocchio/math/gram-schmidt-orthonormalisation.hpp> |
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#include <Eigen/QR> |
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#include <boost/variant.hpp> // to avoid C99 warnings |
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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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using namespace pinocchio; |
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BOOST_AUTO_TEST_CASE(test_random_matrix) |
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{ |
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for (size_t i = 0; i < 100; ++i) |
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{ |
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const Eigen::DenseIndex size = 20; |
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const Eigen::MatrixXd random_mat = Eigen::MatrixXd::Random(size, size); |
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const auto qr = random_mat.householderQr(); |
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const Eigen::MatrixXd basis = qr.householderQ(); |
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for (size_t k = 0; k < 1000; ++k) |
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{ |
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const Eigen::VectorXd random_vec = Eigen::VectorXd::Random(size); |
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orthonormalisation(basis.leftCols(10), random_vec); |
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BOOST_CHECK((basis.leftCols(10).transpose() * random_vec).isZero()); |
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} |
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} |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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