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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
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