Visual Servoing Platform  version 3.2.0 under development (2018-10-24)
testArray2D.cpp

Test some vpArray2D functionalities.

/****************************************************************************
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2017 by Inria. All rights reserved.
*
* This software is free software; you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation; either version 2 of the License, or
* (at your option) any later version.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact Inria about acquiring a ViSP Professional
* Edition License.
*
* See http://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
*
* If you have questions regarding the use of this file, please contact
* Inria at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
* Description:
* Test some vpColVector functionalities.
*
* Authors:
* Eric Marchand
*
*****************************************************************************/
#include <cmath>
#include <limits>
#include <vector>
#include <visp3/core/vpTranslationVector.h>
template <typename Type> bool test(const std::string &s, const vpArray2D<Type> &A, const std::vector<Type> &bench)
{
static unsigned int cpt = 0;
std::cout << "** Test " << ++cpt << std::endl;
std::cout << s << "(" << A.getRows() << "," << A.getCols() << ") = \n" << A << std::endl;
if (bench.size() != A.size()) {
std::cout << "Test fails: bad size wrt bench" << std::endl;
return false;
}
for (unsigned int i = 0; i < A.size(); i++) {
if (std::fabs(A.data[i] - bench[i]) > std::fabs(A.data[i]) * std::numeric_limits<double>::epsilon()) {
std::cout << "Test fails: bad content" << std::endl;
return false;
}
}
return true;
}
int main()
{
{
// test default constructor
std::vector<double> bench;
if (test("A", A, bench) == false)
return EXIT_FAILURE;
}
{
// test copy constructor
std::vector<double> bench(12);
for (unsigned int i = 0; i < 3; i++) {
for (unsigned int j = 0; j < 4; j++) {
A[i][j] = (double)(i + j);
bench[i * 4 + j] = (double)(i + j);
}
}
if (test("A", A, bench) == false)
return EXIT_FAILURE;
if (test("B", B, bench) == false)
return EXIT_FAILURE;
std::cout << "Min/Max: " << B.getMinValue() << " " << B.getMaxValue() << std::endl;
}
{
// test constructor with initial value
vpArray2D<double> A(3, 4, 2.);
std::vector<double> bench1(12, 2);
if (test("A", A, bench1) == false)
return EXIT_FAILURE;
A.resize(5, 6);
std::vector<double> bench2(30, 0);
if (test("A", A, bench2) == false)
return EXIT_FAILURE;
A = -2.;
std::vector<double> bench3(30, -2);
if (test("A", A, bench3) == false)
return EXIT_FAILURE;
}
// Test with float
{
// test default constructor
std::vector<float> bench;
if (test("A", A, bench) == false)
return EXIT_FAILURE;
}
{
// test copy constructor
std::vector<float> bench(12);
for (unsigned int i = 0; i < 3; i++) {
for (unsigned int j = 0; j < 4; j++) {
A[i][j] = (float)(i + j);
bench[i * 4 + j] = (float)(i + j);
}
}
if (test("A", A, bench) == false)
return EXIT_FAILURE;
if (test("B", B, bench) == false)
return EXIT_FAILURE;
std::cout << "Min/Max: " << B.getMinValue() << " " << B.getMaxValue() << std::endl;
}
{
// test constructor with initial value
vpArray2D<float> A(3, 4, 2.);
std::vector<float> bench1(12, 2);
if (test("A", A, bench1) == false)
return EXIT_FAILURE;
A.resize(5, 6);
std::vector<float> bench2(30, 0);
if (test("A", A, bench2) == false)
return EXIT_FAILURE;
A = -2.;
std::vector<float> bench3(30, -2);
if (test("A", A, bench3) == false)
return EXIT_FAILURE;
}
{
// Test Hadamard product
std::cout << "\nTest Hadamard product" << std::endl;
vpArray2D<int> A1(3, 5), A2(3, 5);
vpRowVector R1(15), R2(15);
vpColVector C1(15), C2(15);
for (unsigned int i = 0; i < A1.size(); i++) {
A1.data[i] = i;
A2.data[i] = i + 2;
R1.data[i] = i;
R2.data[i] = i + 2;
C1.data[i] = i;
C2.data[i] = i + 2;
}
std::cout << "A1:\n" << A1 << std::endl;
std::cout << "\nA2:\n" << A2 << std::endl;
A2 = A1.hadamard(A2);
std::cout << "\nRes:\n" << A2 << std::endl;
std::cout << "\nR1:\n" << R1 << std::endl;
std::cout << "\nR2:\n" << R2 << std::endl;
R2 = R1.hadamard(R2);
std::cout << "\nRes:\n" << R2 << std::endl;
std::cout << "\nC1:\n" << C1 << std::endl;
std::cout << "\nC2:\n" << C2 << std::endl;
C2 = C1.hadamard(C2);
std::cout << "\nRes:\n" << C2 << std::endl;
}
std::cout << "All tests succeed" << std::endl;
return 0;
}