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diff --git a/libraries/ode-0.9/ode/src/testing.cpp b/libraries/ode-0.9/ode/src/testing.cpp
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1/*************************************************************************
2 * *
3 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. *
4 * All rights reserved. Email: russ@q12.org Web: www.q12.org *
5 * *
6 * This library is free software; you can redistribute it and/or *
7 * modify it under the terms of EITHER: *
8 * (1) The GNU Lesser General Public License as published by the Free *
9 * Software Foundation; either version 2.1 of the License, or (at *
10 * your option) any later version. The text of the GNU Lesser *
11 * General Public License is included with this library in the *
12 * file LICENSE.TXT. *
13 * (2) The BSD-style license that is included with this library in *
14 * the file LICENSE-BSD.TXT. *
15 * *
16 * This library is distributed in the hope that it will be useful, *
17 * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files *
19 * LICENSE.TXT and LICENSE-BSD.TXT for more details. *
20 * *
21 *************************************************************************/
22
23#include <ode/config.h>
24#include <ode/misc.h>
25#include <ode/memory.h>
26#include "testing.h"
27
28#ifdef dDOUBLE
29static const dReal tol = 1.0e-9;
30#else
31static const dReal tol = 1.0e-5f;
32#endif
33
34
35// matrix header on the stack
36
37struct dMatrixComparison::dMatInfo {
38 int n,m; // size of matrix
39 char name[128]; // name of the matrix
40 dReal *data; // matrix data
41 int size; // size of `data'
42};
43
44
45
46dMatrixComparison::dMatrixComparison()
47{
48 afterfirst = 0;
49 index = 0;
50}
51
52
53dMatrixComparison::~dMatrixComparison()
54{
55 reset();
56}
57
58
59dReal dMatrixComparison::nextMatrix (dReal *A, int n, int m, int lower_tri,
60 char *name, ...)
61{
62 if (A==0 || n < 1 || m < 1 || name==0) dDebug (0,"bad args to nextMatrix");
63 int num = n*dPAD(m);
64
65 if (afterfirst==0) {
66 dMatInfo *mi = (dMatInfo*) dAlloc (sizeof(dMatInfo));
67 mi->n = n;
68 mi->m = m;
69 mi->size = num * sizeof(dReal);
70 mi->data = (dReal*) dAlloc (mi->size);
71 memcpy (mi->data,A,mi->size);
72
73 va_list ap;
74 va_start (ap,name);
75 vsprintf (mi->name,name,ap);
76 if (strlen(mi->name) >= sizeof (mi->name)) dDebug (0,"name too long");
77
78 mat.push (mi);
79 return 0;
80 }
81 else {
82 if (lower_tri && n != m)
83 dDebug (0,"dMatrixComparison, lower triangular matrix must be square");
84 if (index >= mat.size()) dDebug (0,"dMatrixComparison, too many matrices");
85 dMatInfo *mp = mat[index];
86 index++;
87
88 dMatInfo mi;
89 va_list ap;
90 va_start (ap,name);
91 vsprintf (mi.name,name,ap);
92 if (strlen(mi.name) >= sizeof (mi.name)) dDebug (0,"name too long");
93
94 if (strcmp(mp->name,mi.name) != 0)
95 dDebug (0,"dMatrixComparison, name mismatch (\"%s\" and \"%s\")",
96 mp->name,mi.name);
97 if (mp->n != n || mp->m != m)
98 dDebug (0,"dMatrixComparison, size mismatch (%dx%d and %dx%d)",
99 mp->n,mp->m,n,m);
100
101 dReal maxdiff;
102 if (lower_tri) {
103 maxdiff = dMaxDifferenceLowerTriangle (A,mp->data,n);
104 }
105 else {
106 maxdiff = dMaxDifference (A,mp->data,n,m);
107 }
108 if (maxdiff > tol)
109 dDebug (0,"dMatrixComparison, matrix error (size=%dx%d, name=\"%s\", "
110 "error=%.4e)",n,m,mi.name,maxdiff);
111 return maxdiff;
112 }
113}
114
115
116void dMatrixComparison::end()
117{
118 if (mat.size() <= 0) dDebug (0,"no matrices in sequence");
119 afterfirst = 1;
120 index = 0;
121}
122
123
124void dMatrixComparison::reset()
125{
126 for (int i=0; i<mat.size(); i++) {
127 dFree (mat[i]->data,mat[i]->size);
128 dFree (mat[i],sizeof(dMatInfo));
129 }
130 mat.setSize (0);
131 afterfirst = 0;
132 index = 0;
133}
134
135
136void dMatrixComparison::dump()
137{
138 for (int i=0; i<mat.size(); i++)
139 printf ("%d: %s (%dx%d)\n",i,mat[i]->name,mat[i]->n,mat[i]->m);
140}
141
142//****************************************************************************
143// unit test
144
145#include <setjmp.h>
146
147static jmp_buf jump_buffer;
148
149static void myDebug (int num, const char *msg, va_list ap)
150{
151 // printf ("(Error %d: ",num);
152 // vprintf (msg,ap);
153 // printf (")\n");
154 longjmp (jump_buffer,1);
155}
156
157
158extern "C" ODE_API void dTestMatrixComparison()
159{
160 volatile int i;
161 printf ("dTestMatrixComparison()\n");
162 dMessageFunction *orig_debug = dGetDebugHandler();
163
164 dMatrixComparison mc;
165 dReal A[50*50];
166
167 // make first sequence
168 unsigned long seed = dRandGetSeed();
169 for (i=1; i<49; i++) {
170 dMakeRandomMatrix (A,i,i+1,1.0);
171 mc.nextMatrix (A,i,i+1,0,"A%d",i);
172 }
173 mc.end();
174
175 //mc.dump();
176
177 // test identical sequence
178 dSetDebugHandler (&myDebug);
179 dRandSetSeed (seed);
180 if (setjmp (jump_buffer)) {
181 printf ("\tFAILED (1)\n");
182 }
183 else {
184 for (i=1; i<49; i++) {
185 dMakeRandomMatrix (A,i,i+1,1.0);
186 mc.nextMatrix (A,i,i+1,0,"A%d",i);
187 }
188 mc.end();
189 printf ("\tpassed (1)\n");
190 }
191 dSetDebugHandler (orig_debug);
192
193 // test broken sequences (with matrix error)
194 dRandSetSeed (seed);
195 volatile int passcount = 0;
196 for (i=1; i<49; i++) {
197 if (setjmp (jump_buffer)) {
198 passcount++;
199 }
200 else {
201 dSetDebugHandler (&myDebug);
202 dMakeRandomMatrix (A,i,i+1,1.0);
203 A[(i-1)*dPAD(i+1)+i] += REAL(0.01);
204 mc.nextMatrix (A,i,i+1,0,"A%d",i);
205 dSetDebugHandler (orig_debug);
206 }
207 }
208 mc.end();
209 printf ("\t%s (2)\n",(passcount == 48) ? "passed" : "FAILED");
210
211 // test broken sequences (with name error)
212 dRandSetSeed (seed);
213 passcount = 0;
214 for (i=1; i<49; i++) {
215 if (setjmp (jump_buffer)) {
216 passcount++;
217 }
218 else {
219 dSetDebugHandler (&myDebug);
220 dMakeRandomMatrix (A,i,i+1,1.0);
221 mc.nextMatrix (A,i,i+1,0,"B%d",i);
222 dSetDebugHandler (orig_debug);
223 }
224 }
225 mc.end();
226 printf ("\t%s (3)\n",(passcount == 48) ? "passed" : "FAILED");
227
228 // test identical sequence again
229 dSetDebugHandler (&myDebug);
230 dRandSetSeed (seed);
231 if (setjmp (jump_buffer)) {
232 printf ("\tFAILED (4)\n");
233 }
234 else {
235 for (i=1; i<49; i++) {
236 dMakeRandomMatrix (A,i,i+1,1.0);
237 mc.nextMatrix (A,i,i+1,0,"A%d",i);
238 }
239 mc.end();
240 printf ("\tpassed (4)\n");
241 }
242 dSetDebugHandler (orig_debug);
243}
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