| Directory: | ./ |
|---|---|
| File: | unittest/sincos.cpp |
| Date: | 2025-02-12 21:03:38 |
| Exec | Total | Coverage | |
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| Lines: | 20 | 20 | 100.0% |
| Branches: | 45 | 88 | 51.1% |
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| 1 | // | ||
| 2 | // Copyright (c) 2018-2019 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include "pinocchio/fwd.hpp" | ||
| 6 | #include "pinocchio/math/sincos.hpp" | ||
| 7 | #include <cstdlib> | ||
| 8 | |||
| 9 | #include "utils/macros.hpp" | ||
| 10 | |||
| 11 | #include <boost/test/unit_test.hpp> | ||
| 12 | #include <boost/utility/binary.hpp> | ||
| 13 | |||
| 14 | namespace | ||
| 15 | { | ||
| 16 | template<typename Scalar> | ||
| 17 | Scalar sinCosTolerance(); | ||
| 18 | |||
| 19 | template<> | ||
| 20 | 2000 | inline float sinCosTolerance<float>() | |
| 21 | { | ||
| 22 | // I don't know how tolerance has been calculated. | ||
| 23 | // 1e-7 doesn't work on ARM + Debug architecture. | ||
| 24 | 2000 | return 1.5e-7f; | |
| 25 | } | ||
| 26 | |||
| 27 | template<> | ||
| 28 | 2000 | inline double sinCosTolerance<double>() | |
| 29 | { | ||
| 30 | 2000 | return 1e-15; | |
| 31 | } | ||
| 32 | |||
| 33 | template<> | ||
| 34 | 2000 | inline long double sinCosTolerance<long double>() | |
| 35 | { | ||
| 36 | 2000 | return 1e-19; | |
| 37 | } | ||
| 38 | } // namespace | ||
| 39 | |||
| 40 | template<typename Scalar> | ||
| 41 | 6 | void testSINCOS(int n) | |
| 42 | { | ||
| 43 |
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6006 | for (int k = 0; k < n; ++k) |
| 44 | { | ||
| 45 | Scalar sin_value, cos_value; | ||
| 46 | 6000 | Scalar alpha = (Scalar)std::rand() / (Scalar)RAND_MAX; | |
| 47 | 6000 | pinocchio::SINCOS(alpha, &sin_value, &cos_value); | |
| 48 | |||
| 49 | 6000 | Scalar sin_value_ref = std::sin(alpha), cos_value_ref = std::cos(alpha); | |
| 50 | |||
| 51 |
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6000 | BOOST_CHECK_CLOSE_FRACTION(sin_value, sin_value_ref, sinCosTolerance<Scalar>()); |
| 52 |
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6000 | BOOST_CHECK_CLOSE_FRACTION(cos_value, cos_value_ref, sinCosTolerance<Scalar>()); |
| 53 | } | ||
| 54 | 6 | } | |
| 55 | |||
| 56 | BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) | ||
| 57 | |||
| 58 |
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4 | BOOST_AUTO_TEST_CASE(test_sincos) |
| 59 | { | ||
| 60 | #ifndef NDEBUG | ||
| 61 | 2 | const int n = 1e3; | |
| 62 | #else | ||
| 63 | const int n = 1e6; | ||
| 64 | #endif | ||
| 65 | 2 | testSINCOS<float>(n); | |
| 66 | 2 | testSINCOS<double>(n); | |
| 67 | 2 | testSINCOS<long double>(n); | |
| 68 | 2 | } | |
| 69 | |||
| 70 | BOOST_AUTO_TEST_SUITE_END() | ||
| 71 |