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test-operations.cpp
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#define BOOST_TEST_MODULE test_operations
#include <boost/test/included/unit_test.hpp>
#include "load_problem.h"
#include "ndcurves/bezier_curve.h"
#include "ndcurves/cubic_hermite_spline.h"
#include "ndcurves/curve_conversion.h"
#include "ndcurves/exact_cubic.h"
#include "ndcurves/fwd.h"
#include "ndcurves/helpers/effector_spline.h"
#include "ndcurves/helpers/effector_spline_rotation.h"
#include "ndcurves/optimization/definitions.h"
#include "ndcurves/piecewise_curve.h"
#include "ndcurves/polynomial.h"
#include "ndcurves/se3_curve.h"
#include "ndcurves/serialization/curves.hpp"
#include "ndcurves/so3_linear.h"
using namespace ndcurves;
BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
void compDouble(const double a, const double b) {
#if BOOST_VERSION <= 105800
BOOST_CHECK(std::abs(a - b) <= 0.001);
#else
BOOST_TEST(a == b, boost::test_tools::tolerance(0.001));
#endif
}
BOOST_AUTO_TEST_CASE(crossPoductBezier) {
t_pointX_t vec1;
t_pointX_t vec2;
for (int i = 0; i < 4; ++i) {
vec1.push_back(Eigen::Vector3d::Random());
vec2.push_back(Eigen::Vector3d::Random());
}
for (int i = 0; i < 3; ++i) {
vec1.push_back(Eigen::Vector3d::Random());
}
bezier_t p1(vec1.begin(), vec1.end(), 0., 1.);
bezier_t p2(vec2.begin(), vec2.end(), 0., 1.);
bezier_t pCross(p1.cross(p2));
for (double i = 0.; i <= 100.; ++i) {
double dt = i / 100.;
Eigen::Vector3d v1 = p1(dt);
Eigen::Vector3d v2 = p2(dt);
compDouble((pCross(dt) - v1.cross(v2)).norm(), 0.);
}
}
BOOST_AUTO_TEST_CASE(bezierOperations) {
t_pointX_t vec1;
t_pointX_t vec2;
for (int i = 0; i < 3; ++i) {
vec1.push_back(Eigen::Vector3d::Random());
vec2.push_back(Eigen::Vector3d::Random());
}
for (int i = 0; i < 4; ++i) {
vec1.push_back(Eigen::Vector3d::Random());
}
bezier_t p1(vec1.begin(), vec1.end(), 0.2, .8);
bezier_t p2(vec2.begin(), vec2.end(), 0.2, .8);
bezier_t p1Dev = p1.compute_derivate(2);
bezier_t p3(vec2.begin(), vec2.end(), 0.2, 0.5);
bezier_t p4(vec2.begin(), vec2.end(), 0.1, .8);
bezier_t p5(vec2.begin(), vec2.end(), 0.1, .5);
double k = 10.2;
BOOST_CHECK_THROW(p1 + p3, std::exception);
BOOST_CHECK_THROW(p1 - p3, std::exception);
BOOST_CHECK_THROW(p1 + p4, std::exception);
BOOST_CHECK_THROW(p1 - p4, std::exception);
BOOST_CHECK_THROW(p1 + p5, std::exception);
BOOST_CHECK_THROW(p1 - p5, std::exception);
bezier_t pSum = p1 + p2;
bezier_t pSumR = p2 + p1;
bezier_t pSumDev = p1Dev + p2;
bezier_t pSumRDev = p2 + p1Dev;
bezier_t pSub = p1 - p2;
bezier_t pSubR = p2 - p1;
bezier_t pSubDev = p1Dev - p2;
bezier_t pSubRDev = p2 - p1Dev;
bezier_t pdiv = p1 / k;
bezier_t pMul = p1 * k;
bezier_t pMulR = k * p1;
bezier_t pNeg = -p1;
for (double i = 20; i <= 80.; ++i) {
double dt = i / 100.;
compDouble((pSum(dt) - (p1(dt) + p2(dt))).norm(), 0.);
compDouble((pSumR(dt) - (p1(dt) + p2(dt))).norm(), 0.);
compDouble((pSumDev(dt) - (p1Dev(dt) + p2(dt))).norm(), 0.);
compDouble((pSumRDev(dt) - (p1Dev(dt) + p2(dt))).norm(), 0.);
compDouble((pSub(dt) - (p1(dt) - p2(dt))).norm(), 0.);
compDouble((pSubR(dt) - (p2(dt) - p1(dt))).norm(), 0.);
compDouble((pSubDev(dt) - (p1Dev(dt) - p2(dt))).norm(), 0.);
compDouble((pSubRDev(dt) - (p2(dt) - p1Dev(dt))).norm(), 0.);
compDouble((pMul(dt) - p1(dt) * k).norm(), 0.);
compDouble((pMulR(dt) - p1(dt) * k).norm(), 0.);
compDouble((pdiv(dt) - p1(dt) / k).norm(), 0.);
compDouble((pNeg(dt) + p1(dt)).norm(), 0);
}
pSum = bezier_t(p1);
pSum += p2;
pSub = p1;
pSub -= p2;
pdiv = p1;
pdiv /= k;
pMul = p1;
pMul *= k;
for (double i = 20; i <= 80.; ++i) {
double dt = i / 100.;
compDouble((pSum(dt) - (p1(dt) + p2(dt))).norm(), 0.);
compDouble((pSub(dt) - (p1(dt) - p2(dt))).norm(), 0.);
compDouble((pMul(dt) - p1(dt) * k).norm(), 0.);
compDouble((pdiv(dt) - p1(dt) / k).norm(), 0.);
}
}
BOOST_AUTO_TEST_CASE(bezierPointOperations) {
t_pointX_t vec1;
for (int i = 0; i < 6; ++i) {
vec1.push_back(Eigen::Vector3d::Random());
}
bezier_t p1(vec1.begin(), vec1.end(), 0., 1.);
Eigen::Vector3d point = bezier_t::point_t::Random(3);
bezier_t pSum = p1 + point;
bezier_t pSumR = point + p1;
bezier_t pSub = p1 - point;
bezier_t pSubR = point - p1;
bezier_t pcross = p1.cross(point);
for (double i = 0.; i <= 100.; ++i) {
double dt = i / 100.;
compDouble((pSum(dt) - (p1(dt) + point)).norm(), 0.);
compDouble((pSumR(dt) - (p1(dt) + point)).norm(), 0.);
compDouble((pSub(dt) - (p1(dt) - point)).norm(), 0.);
compDouble((pSubR(dt) - (point - p1(dt))).norm(), 0.);
Eigen::Vector3d p1dt = p1(dt);
compDouble((pcross(dt) - (p1dt.cross(point))).norm(), 0.);
}
}
BOOST_AUTO_TEST_CASE(crossPoductLinearVariable) {
linear_variable_t l1(Eigen::Matrix3d::Identity() * 5.,
Eigen::Vector3d::Random());
linear_variable_t l2(Eigen::Matrix3d::Identity() * 1.,
Eigen::Vector3d::Random());
linear_variable_t lE(Eigen::Matrix3d::Random(), Eigen::Vector3d::Random());
BOOST_CHECK_THROW(l1.cross(lE), std::exception);
BOOST_CHECK_THROW(lE.cross(l1), std::exception);
linear_variable_t lcross = l1.cross(l2);
for (int i = 0; i < 10; ++i) {
Eigen::Vector3d x = Eigen::Vector3d::Random();
Eigen::Vector3d v1 = l1(x);
Eigen::Vector3d v2 = l2(x);
compDouble((lcross(x) - v1.cross(v2)).norm(), 0.);
}
}
BOOST_AUTO_TEST_CASE(crossProductBezierLinearVariable) {
bezier_linear_variable_t::t_point_t vec1;
bezier_linear_variable_t::t_point_t vec2;
bezier_linear_variable_t::t_point_t zeroVec;
for (int i = 0; i < 3; ++i) {
vec1.push_back(linear_variable_t(Eigen::Matrix3d::Identity() * i,
Eigen::Vector3d::Random()));
vec2.push_back(linear_variable_t(Eigen::Matrix3d::Identity() * i,
Eigen::Vector3d::Random()));
zeroVec.push_back(linear_variable_t());
}
for (int i = 0; i < 2; ++i) {
vec1.push_back(linear_variable_t(Eigen::Matrix3d::Identity() * i,
Eigen::Vector3d::Random()));
}
bezier_linear_variable_t p1(vec1.begin(), vec1.end(), 0., 1.);
bezier_linear_variable_t p2(vec2.begin(), vec2.end(), 0., 1.);
bezier_linear_variable_t pZero(zeroVec.begin(), zeroVec.end(), 0., 1.);
bezier_linear_variable_t pCross(p1.cross(p2));
bezier_linear_variable_t pCrossZero(p1.cross(pZero));
bezier_linear_variable_t primitive =
pCross.compute_primitive(1, *vec1.begin());
for (double i = 0.; i <= 1.; ++i) {
Eigen::Vector3d x = Eigen::Vector3d::Random();
bezier_t fcross =
evaluateLinear<bezier_t, bezier_linear_variable_t>(pCross, x);
bezier_t fCrossZero =
evaluateLinear<bezier_t, bezier_linear_variable_t>(pCrossZero, x);
bezier_t f1 = evaluateLinear<bezier_t, bezier_linear_variable_t>(p1, x);
bezier_t f2 = evaluateLinear<bezier_t, bezier_linear_variable_t>(p2, x);
for (double i = 0.; i <= 10.; ++i) {
double dt = i / 10.;
Eigen::Vector3d v1 = f1(dt);
Eigen::Vector3d v2 = f2(dt);
compDouble((fcross(dt) - v1.cross(v2)).norm(), 0.);
compDouble((fCrossZero(dt)).norm(), 0.);
}
}
}
BOOST_AUTO_TEST_CASE(polynomialPointOperations) {
polynomial_t::coeff_t coeffs1 = Eigen::MatrixXd::Random(3, 5);
Eigen::Vector3d point = Eigen::Vector3d::Random(3);
polynomial_t p1(coeffs1, 0., 1.);
polynomial_t pSum = p1 + point;
polynomial_t pSumR = point + p1;
polynomial_t pSub = p1 - point;
polynomial_t pSubR = point - p1;
polynomial_t pcross = p1.cross(point);
for (double i = 0.; i <= 100.; ++i) {
double dt = i / 100.;
compDouble((pSum(dt) - (p1(dt) + point)).norm(), 0.);
compDouble((pSumR(dt) - (p1(dt) + point)).norm(), 0.);
compDouble((pSub(dt) - (p1(dt) - point)).norm(), 0.);
compDouble((pSubR(dt) - (point - p1(dt))).norm(), 0.);
Eigen::Vector3d p1dt = p1(dt);
compDouble((pcross(dt) - (p1dt.cross(point))).norm(), 0.);
}
}
BOOST_AUTO_TEST_CASE(polynomialOperations) {
polynomial_t::coeff_t coeffs1 = Eigen::MatrixXd::Random(3, 5);
polynomial_t::coeff_t coeffs2 = Eigen::MatrixXd::Random(3, 2);
polynomial_t p1(coeffs1, 0., 1.);
polynomial_t p2(coeffs2, 0., 1.);
polynomial_t p3(coeffs2, 0., 0.5);
polynomial_t p4(coeffs2, 0.1, 1.);
polynomial_t p5(coeffs2, 0.1, .5);
double k = 10.2;
BOOST_CHECK_THROW(p1 + p3, std::exception);
BOOST_CHECK_THROW(p1 - p3, std::exception);
BOOST_CHECK_THROW(p1 + p4, std::exception);
BOOST_CHECK_THROW(p1 - p4, std::exception);
BOOST_CHECK_THROW(p1 + p5, std::exception);
BOOST_CHECK_THROW(p1 - p5, std::exception);
polynomial_t pSum = p1 + p2;
polynomial_t pSumR = p2 + p1;
polynomial_t pSub = p1 - p2;
polynomial_t pSubR = p2 - p1;
polynomial_t pdiv = p1 / k;
polynomial_t pMul = p1 * k;
polynomial_t pMulR = k * p1;
polynomial_t pNeg = -p1;
for (double i = 0.; i <= 100.; ++i) {
double dt = i / 100.;
compDouble((pSum(dt) - (p1(dt) + p2(dt))).norm(), 0.);
compDouble((pSumR(dt) - (p1(dt) + p2(dt))).norm(), 0.);
compDouble((pSub(dt) - (p1(dt) - p2(dt))).norm(), 0.);
compDouble((pSubR(dt) - (p2(dt) - p1(dt))).norm(), 0.);
compDouble((pMul(dt) - p1(dt) * k).norm(), 0.);
compDouble((pMulR(dt) - p1(dt) * k).norm(), 0.);
compDouble((pdiv(dt) - p1(dt) / k).norm(), 0.);
compDouble((pNeg(dt) + p1(dt)).norm(), 0);
}
pSum = polynomial_t(p1);
pSum += p2;
pSub = p1;
pSub -= p2;
pdiv = p1;
pdiv /= k;
pMul = p1;
pMul *= k;
for (double i = 0.; i <= 100.; ++i) {
double dt = i / 100.;
compDouble((pSum(dt) - (p1(dt) + p2(dt))).norm(), 0.);
compDouble((pSub(dt) - (p1(dt) - p2(dt))).norm(), 0.);
compDouble((pMul(dt) - p1(dt) * k).norm(), 0.);
compDouble((pdiv(dt) - p1(dt) / k).norm(), 0.);
}
}
BOOST_AUTO_TEST_CASE(crossPoductPolynomials) {
polynomial_t::coeff_t coeffs1 = Eigen::MatrixXd::Random(3, 5);
polynomial_t::coeff_t coeffs2 = Eigen::MatrixXd::Random(3, 2);
polynomial_t::coeff_t coeffsDim4 = Eigen::MatrixXd::Random(4, 2);
polynomial_t p1(coeffs1, 0., 1.);
polynomial_t p2(coeffs2, 0., 1.);
polynomial_t p3(coeffs2, 0., 0.5);
polynomial_t p4(coeffs2, 0.1, 1.);
polynomial_t p5(coeffs2, 0.1, .5);
polynomial_t pDim4(coeffsDim4, 0., 1.);
// testing reduction
BOOST_CHECK_EQUAL(p1.cross(p1).degree(), 0);
BOOST_CHECK_THROW(p1.cross(p3), std::exception);
BOOST_CHECK_THROW(p1.cross(p4), std::exception);
BOOST_CHECK_THROW(p1.cross(p5), std::exception);
BOOST_CHECK_THROW(p1.cross(pDim4), std::exception);
BOOST_CHECK_THROW(pDim4.cross(p1), std::exception);
polynomial_t pCross = p1.cross(p2);
for (double i = 0.; i <= 100.; ++i) {
double dt = i / 100.;
Eigen::Vector3d v1 = p1(dt);
Eigen::Vector3d v2 = p2(dt);
compDouble((pCross(dt) - v1.cross(v2)).norm(), 0.);
}
}
BOOST_AUTO_TEST_CASE(crossPoductPolynomialSimplification) {
polynomial_t::coeff_t coeffs1 = Eigen::MatrixXd::Random(3, 5);
polynomial_t::coeff_t coeffs2 = Eigen::MatrixXd::Random(3, 3);
coeffs2.col(2) = coeffs1.col(4);
polynomial_t p1(coeffs1, 0., 1.);
polynomial_t p2(coeffs2, 0., 1.);
polynomial_t pCross = p1.cross(p2);
BOOST_CHECK_EQUAL(pCross.degree(), 5);
for (double i = 0.; i <= 100.; ++i) {
double dt = i / 100.;
Eigen::Vector3d v1 = p1(dt);
Eigen::Vector3d v2 = p2(dt);
compDouble((pCross(dt) - v1.cross(v2)).norm(), 0.);
}
}
BOOST_AUTO_TEST_SUITE_END()