| Directory: | ./ |
|---|---|
| File: | unittest/vector.cpp |
| Date: | 2025-02-12 21:03:38 |
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| 1 | // | ||
| 2 | // Copyright (c) 2020 INRIA | ||
| 3 | // | ||
| 4 | |||
| 5 | #include <pinocchio/math/matrix.hpp> | ||
| 6 | |||
| 7 | #include <boost/variant.hpp> // to avoid C99 warnings | ||
| 8 | |||
| 9 | #include <boost/test/unit_test.hpp> | ||
| 10 | #include <boost/utility/binary.hpp> | ||
| 11 | |||
| 12 | BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE) | ||
| 13 | |||
| 14 |
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|
4 | BOOST_AUTO_TEST_CASE(test_isNormalized) |
| 15 | { | ||
| 16 | 2 | srand(0); | |
| 17 | |||
| 18 | using namespace pinocchio; | ||
| 19 | typedef Eigen::Matrix<double, Eigen::Dynamic, 1> Vector; | ||
| 20 | |||
| 21 | 2 | const int max_size = 1000; | |
| 22 | #ifdef NDEBUG | ||
| 23 | const int max_test = 1e6; | ||
| 24 | #else | ||
| 25 | 2 | const int max_test = 1e2; | |
| 26 | #endif | ||
| 27 |
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202 | for (int i = 0; i < max_test; ++i) |
| 28 | { | ||
| 29 | 200 | const Eigen::DenseIndex size = rand() % max_size + 1; // random vector size | |
| 30 |
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200 | Vector vec; |
| 31 |
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200 | vec = Vector::Random(size) + Vector::Constant(size, 2.); |
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200 | BOOST_CHECK(!isNormalized(vec)); |
| 33 | |||
| 34 |
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200 | vec.normalize(); |
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200 | BOOST_CHECK(isNormalized(vec)); |
| 36 | |||
| 37 | // Specific check for the Zero vector | ||
| 38 |
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200 | BOOST_CHECK(!isNormalized(Vector(Vector::Zero(size)))); |
| 39 | 200 | } | |
| 40 | 2 | } | |
| 41 | |||
| 42 | BOOST_AUTO_TEST_SUITE_END() | ||
| 43 |