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// |
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// Copyright (c) 2020 INRIA |
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// |
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#include <pinocchio/math/matrix.hpp> |
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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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BOOST_AUTO_TEST_CASE(test_isNormalized) |
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{ |
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srand(0); |
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using namespace pinocchio; |
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typedef Eigen::Matrix<double, Eigen::Dynamic, 1> Vector; |
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const int max_size = 1000; |
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#ifdef NDEBUG |
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const int max_test = 1e6; |
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#else |
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const int max_test = 1e2; |
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#endif |
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for (int i = 0; i < max_test; ++i) |
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{ |
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const Eigen::DenseIndex size = rand() % max_size + 1; // random vector size |
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Vector vec; |
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vec = Vector::Random(size) + Vector::Constant(size, 2.); |
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BOOST_CHECK(!isNormalized(vec)); |
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vec.normalize(); |
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BOOST_CHECK(isNormalized(vec)); |
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// Specific check for the Zero vector |
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BOOST_CHECK(!isNormalized(Vector(Vector::Zero(size)))); |
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} |
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} |
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BOOST_AUTO_TEST_SUITE_END() |
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