resubmitting ode

1 files changed, 65 insertions, 0 deletions

diff --git a/libraries/ode-0.9/ode/src/testing.h b/libraries/ode-0.9/ode/src/testing.h
new file mode 100644
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+++ b/libraries/ode-0.9/ode/src/testing.h
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+/*************************************************************************
+ *                                                                       *
+ * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
+ * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
+ *                                                                       *
+ * This library is free software; you can redistribute it and/or         *
+ * modify it under the terms of EITHER:                                  *
+ *   (1) The GNU Lesser General Public License as published by the Free  *
+ *       Software Foundation; either version 2.1 of the License, or (at  *
+ *       your option) any later version. The text of the GNU Lesser      *
+ *       General Public License is included with this library in the     *
+ *       file LICENSE.TXT.                                               *
+ *   (2) The BSD-style license that is included with this library in     *
+ *       the file LICENSE-BSD.TXT.                                       *
+ *                                                                       *
+ * This library is distributed in the hope that it will be useful,       *
+ * but WITHOUT ANY WARRANTY; without even the implied warranty of        *
+ * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files    *
+ * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
+ *                                                                       *
+ *************************************************************************/
+
+/* stuff used for testing */
+
+#ifndef _ODE_TESTING_H_
+#define _ODE_TESTING_H_
+
+#include <ode/common.h>
+#include "array.h"
+
+
+// compare a sequence of named matrices/vectors, i.e. to make sure that two
+// different pieces of code are giving the same results.
+
+class dMatrixComparison {
+  struct dMatInfo;
+  dArray<dMatInfo*> mat;
+  int afterfirst,index;
+
+public:
+  dMatrixComparison();
+  ~dMatrixComparison();
+
+  dReal nextMatrix (dReal *A, int n, int m, int lower_tri, char *name, ...);
+  // add a new n*m matrix A to the sequence. the name of the matrix is given
+  // by the printf-style arguments (name,...). if this is the first sequence
+  // then this object will simply record the matrices and return 0.
+  // if this the second or subsequent sequence then this object will compare
+  // the matrices with the first sequence, and report any differences.
+  // the matrix error will be returned. if `lower_tri' is 1 then only the
+  // lower triangle of the matrix (including the diagonal) will be compared
+  // (the matrix must be square).
+
+  void end();
+  // end a sequence.
+
+  void reset();
+  // restarts the object, so the next sequence will be the first sequence.
+
+  void dump();
+  // print out info about all the matrices in the sequence
+};
+
+
+#endif