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// |
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// Copyright (c) 2018-2019 INRIA |
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// |
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#include "pinocchio/fwd.hpp" |
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#include "pinocchio/math/sincos.hpp" |
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#include <cstdlib> |
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#include "utils/macros.hpp" |
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#include <boost/test/unit_test.hpp> |
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#include <boost/utility/binary.hpp> |
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namespace |
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{ |
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template<typename Scalar> |
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Scalar sinCosTolerance(); |
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template<> |
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inline float sinCosTolerance<float>() |
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{ |
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return 1e-7f; |
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} |
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template<> |
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inline double sinCosTolerance<double>() |
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{ |
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return 1e-15; |
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} |
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template<> |
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inline long double sinCosTolerance<long double>() |
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{ |
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return 1e-19; |
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} |
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} // namespace |
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template<typename Scalar> |
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void testSINCOS(int n) |
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{ |
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for (int k = 0; k < n; ++k) |
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{ |
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Scalar sin_value, cos_value; |
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Scalar alpha = (Scalar)std::rand() / (Scalar)RAND_MAX; |
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pinocchio::SINCOS(alpha, &sin_value, &cos_value); |
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Scalar sin_value_ref = std::sin(alpha), cos_value_ref = std::cos(alpha); |
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BOOST_CHECK_CLOSE_FRACTION(sin_value, sin_value_ref, sinCosTolerance<Scalar>()); |
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BOOST_CHECK_CLOSE_FRACTION(cos_value, cos_value_ref, sinCosTolerance<Scalar>()); |
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} |
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} |
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BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) |
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BOOST_AUTO_TEST_CASE(test_sincos) |
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{ |
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#ifndef NDEBUG |
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const int n = 1e3; |
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#else |
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const int n = 1e6; |
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#endif |
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testSINCOS<float>(n); |
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testSINCOS<double>(n); |
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testSINCOS<long double>(n); |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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