GUD improvements
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KeyboardCombination
243
src/source/ode/testing.cpp
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243
src/source/ode/testing.cpp
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/*************************************************************************
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* *
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* Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
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* All rights reserved. Email: russ@q12.org Web: www.q12.org *
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* *
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of EITHER: *
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* (1) The GNU Lesser General Public License as published by the Free *
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* Software Foundation; either version 2.1 of the License, or (at *
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* your option) any later version. The text of the GNU Lesser *
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* General Public License is included with this library in the *
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* file LICENSE.TXT. *
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* (2) The BSD-style license that is included with this library in *
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* the file LICENSE-BSD.TXT. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
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* LICENSE.TXT and LICENSE-BSD.TXT for more details. *
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* *
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*************************************************************************/
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#include <ode/config.h>
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#include <ode/misc.h>
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#include <ode/memory.h>
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#include "testing.h"
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#ifdef dDOUBLE
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static const dReal tol = 1.0e-9;
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#else
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static const dReal tol = 1.0e-5f;
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#endif
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// matrix header on the stack
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struct dMatrixComparison::dMatInfo {
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int n,m; // size of matrix
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char name[128]; // name of the matrix
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dReal *data; // matrix data
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int size; // size of `data'
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};
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dMatrixComparison::dMatrixComparison()
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{
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afterfirst = 0;
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index = 0;
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}
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dMatrixComparison::~dMatrixComparison()
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{
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reset();
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}
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dReal dMatrixComparison::nextMatrix (dReal *A, int n, int m, int lower_tri,
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char *name, ...)
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{
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if (A==0 || n < 1 || m < 1 || name==0) dDebug (0,"bad args to nextMatrix");
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int num = n*dPAD(m);
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if (afterfirst==0) {
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dMatInfo *mi = (dMatInfo*) dAlloc (sizeof(dMatInfo));
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mi->n = n;
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mi->m = m;
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mi->size = num * sizeof(dReal);
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mi->data = (dReal*) dAlloc (mi->size);
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memcpy (mi->data,A,mi->size);
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va_list ap;
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va_start (ap,name);
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vsprintf (mi->name,name,ap);
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if (strlen(mi->name) >= sizeof (mi->name)) dDebug (0,"name too long");
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mat.push (mi);
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return 0;
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}
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else {
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if (lower_tri && n != m)
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dDebug (0,"dMatrixComparison, lower triangular matrix must be square");
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if (index >= mat.size()) dDebug (0,"dMatrixComparison, too many matrices");
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dMatInfo *mp = mat[index];
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index++;
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dMatInfo mi;
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va_list ap;
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va_start (ap,name);
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vsprintf (mi.name,name,ap);
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if (strlen(mi.name) >= sizeof (mi.name)) dDebug (0,"name too long");
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if (strcmp(mp->name,mi.name) != 0)
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dDebug (0,"dMatrixComparison, name mismatch (\"%s\" and \"%s\")",
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mp->name,mi.name);
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if (mp->n != n || mp->m != m)
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dDebug (0,"dMatrixComparison, size mismatch (%dx%d and %dx%d)",
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mp->n,mp->m,n,m);
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dReal maxdiff;
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if (lower_tri) {
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maxdiff = dMaxDifferenceLowerTriangle (A,mp->data,n);
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}
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else {
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maxdiff = dMaxDifference (A,mp->data,n,m);
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}
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if (maxdiff > tol)
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dDebug (0,"dMatrixComparison, matrix error (size=%dx%d, name=\"%s\", "
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"error=%.4e)",n,m,mi.name,maxdiff);
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return maxdiff;
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}
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}
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void dMatrixComparison::end()
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{
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if (mat.size() <= 0) dDebug (0,"no matrices in sequence");
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afterfirst = 1;
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index = 0;
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}
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void dMatrixComparison::reset()
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{
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for (int i=0; i<mat.size(); i++) {
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dFree (mat[i]->data,mat[i]->size);
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dFree (mat[i],sizeof(dMatInfo));
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}
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mat.setSize (0);
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afterfirst = 0;
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index = 0;
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}
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void dMatrixComparison::dump()
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{
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for (int i=0; i<mat.size(); i++)
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printf ("%d: %s (%dx%d)\n",i,mat[i]->name,mat[i]->n,mat[i]->m);
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}
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//****************************************************************************
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// unit test
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#include <setjmp.h>
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static jmp_buf jump_buffer;
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static void myDebug (int num, const char *msg, va_list ap)
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{
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// printf ("(Error %d: ",num);
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// vprintf (msg,ap);
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// printf (")\n");
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longjmp (jump_buffer,1);
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}
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extern "C" void dTestMatrixComparison()
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{
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volatile int i;
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printf ("dTestMatrixComparison()\n");
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dMessageFunction *orig_debug = dGetDebugHandler();
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dMatrixComparison mc;
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dReal A[50*50];
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// make first sequence
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unsigned long seed = dRandGetSeed();
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for (i=1; i<49; i++) {
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dMakeRandomMatrix (A,i,i+1,1.0);
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mc.nextMatrix (A,i,i+1,0,"A%d",i);
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}
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mc.end();
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//mc.dump();
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// test identical sequence
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dSetDebugHandler (&myDebug);
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dRandSetSeed (seed);
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if (setjmp (jump_buffer)) {
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printf ("\tFAILED (1)\n");
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}
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else {
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for (i=1; i<49; i++) {
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dMakeRandomMatrix (A,i,i+1,1.0);
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mc.nextMatrix (A,i,i+1,0,"A%d",i);
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}
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mc.end();
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printf ("\tpassed (1)\n");
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}
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dSetDebugHandler (orig_debug);
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// test broken sequences (with matrix error)
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dRandSetSeed (seed);
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volatile int passcount = 0;
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for (i=1; i<49; i++) {
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if (setjmp (jump_buffer)) {
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passcount++;
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}
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else {
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dSetDebugHandler (&myDebug);
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dMakeRandomMatrix (A,i,i+1,1.0);
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A[(i-1)*dPAD(i+1)+i] += REAL(0.01);
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mc.nextMatrix (A,i,i+1,0,"A%d",i);
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dSetDebugHandler (orig_debug);
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}
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}
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mc.end();
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printf ("\t%s (2)\n",(passcount == 48) ? "passed" : "FAILED");
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// test broken sequences (with name error)
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dRandSetSeed (seed);
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passcount = 0;
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for (i=1; i<49; i++) {
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if (setjmp (jump_buffer)) {
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passcount++;
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}
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else {
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dSetDebugHandler (&myDebug);
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dMakeRandomMatrix (A,i,i+1,1.0);
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mc.nextMatrix (A,i,i+1,0,"B%d",i);
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dSetDebugHandler (orig_debug);
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}
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}
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mc.end();
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printf ("\t%s (3)\n",(passcount == 48) ? "passed" : "FAILED");
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// test identical sequence again
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dSetDebugHandler (&myDebug);
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dRandSetSeed (seed);
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if (setjmp (jump_buffer)) {
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printf ("\tFAILED (4)\n");
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}
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else {
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for (i=1; i<49; i++) {
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dMakeRandomMatrix (A,i,i+1,1.0);
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mc.nextMatrix (A,i,i+1,0,"A%d",i);
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}
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mc.end();
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printf ("\tpassed (4)\n");
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}
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dSetDebugHandler (orig_debug);
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}
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