Visual Servoing Platform  version 3.6.1 under development (2024-07-17)
testArray2D.cpp

Test some vpArray2D functionalities.

/*
* ViSP, open source Visual Servoing Platform software.
* Copyright (C) 2005 - 2024 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 https://visp.inria.fr for more information.
*
* This software was developed at:
* Inria Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
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*
* 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.
*/
#include <visp3/core/vpConfig.h>
#if defined(VISP_HAVE_CATCH2)
#define CATCH_CONFIG_RUNNER
#include <catch.hpp>
#include <cmath>
#include <limits>
#include <vector>
#include <visp3/core/vpTranslationVector.h>
#ifdef ENABLE_VISP_NAMESPACE
using namespace VISP_NAMESPACE_NAME;
#endif
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;
}
template <typename Type>
bool test_hadamar(const vpArray2D<Type> &A, const vpArray2D<Type> &B, const vpArray2D<Type> &H)
{
if (A.getCols() != B.getCols() || A.getCols() != H.getCols()) {
std::cout << "Test fails: bad columns size" << std::endl;
return false;
}
if (A.getRows() != B.getRows() || A.getRows() != H.getRows()) {
std::cout << "Test fails: bad rows size" << std::endl;
return false;
}
for (unsigned int i = 0; i < A.size(); i++) {
if (std::fabs((A.data[i] * B.data[i]) - H.data[i]) > std::numeric_limits<double>::epsilon()) {
std::cout << "Test fails: bad content" << std::endl;
return false;
}
}
return true;
}
TEST_CASE("Test constructors with double", "[constructors]")
{
SECTION("Default constructor")
{
std::vector<double> bench;
CHECK(test("A", A, bench));
}
SECTION("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);
}
}
CHECK(test("A", A, bench));
CHECK(test("B", B, bench));
}
SECTION("Constructor with initial value")
{
vpArray2D<double> A(3, 4, 2.);
std::vector<double> bench1(12, 2);
CHECK(test("A", A, bench1));
A.resize(5, 6);
std::vector<double> bench2(30, 0);
CHECK(test("A", A, bench2));
A = -2.;
std::vector<double> bench3(30, -2);
CHECK(test("A", A, bench3));
}
SECTION("Constructor from std::vector")
{
std::vector<double> bench(12);
for (unsigned int i = 0; i < 3; i++) {
for (unsigned int j = 0; j < 4; j++) {
bench[i * 4 + j] = (double)(i + j);
}
}
SECTION("Keep default size (r=0, c=0)")
{
std::cout << "A with default size (r=0, c=0):\n" << std::endl;
REQUIRE_THROWS(vpArray2D<double>(bench));
}
SECTION("Keep row size to 0")
{
unsigned int size = static_cast<unsigned int>(bench.size());
vpArray2D<double> A(bench, 0, size);
std::cout << "A with row size to 0:\n" << A << std::endl;
CHECK(test("A", A, bench));
CHECK(A.getRows() == 1);
CHECK(A.getCols() == bench.size());
}
SECTION("Keep col size to 0")
{
unsigned int size = static_cast<unsigned int>(bench.size());
vpArray2D<double> A(bench, size, 0);
std::cout << "A with col size to 0:\n" << A << std::endl;
CHECK(test("A", A, bench));
CHECK(A.getRows() == bench.size());
CHECK(A.getCols() == 1);
}
SECTION("Set r=3 and c=4")
{
vpArray2D<double> A(bench, 3, 4);
std::cout << "A with r=3 and c=4:\n" << A << std::endl;
CHECK(test("A", A, bench));
CHECK(A.getRows() == 3);
CHECK(A.getCols() == 4);
}
}
}
TEST_CASE("Test constructors with float", "[constructors]")
{
SECTION("Default constructor")
{
std::vector<float> bench;
CHECK(test("A", A, bench));
}
SECTION("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);
}
}
CHECK(test("A", A, bench));
CHECK(test("B", B, bench));
}
SECTION("Constructor with initial value")
{
vpArray2D<float> A(3, 4, 2.);
std::vector<float> bench1(12, 2);
CHECK(test("A", A, bench1));
A.resize(5, 6);
std::vector<float> bench2(30, 0);
CHECK(test("A", A, bench2));
A = -2.;
std::vector<float> bench3(30, -2);
CHECK(test("A", A, bench3));
}
SECTION("Constructor from std::vector")
{
std::vector<float> bench(12);
for (unsigned int i = 0; i < 3; i++) {
for (unsigned int j = 0; j < 4; j++) {
bench[i * 4 + j] = (float)(i + j);
}
}
SECTION("Keep default size (r=0, c=0)")
{
std::cout << "A with default size (r=0, c=0):\n" << std::endl;
REQUIRE_THROWS(vpArray2D<float>(bench));
}
SECTION("Keep row size to 0")
{
unsigned int size = static_cast<unsigned int>(bench.size());
vpArray2D<float> A(bench, 0, size);
std::cout << "A with row size to 0:\n" << A << std::endl;
CHECK(test("A", A, bench));
CHECK(A.getRows() == 1);
CHECK(A.getCols() == bench.size());
}
SECTION("Keep col size to 0")
{
unsigned int size = static_cast<unsigned int>(bench.size());
vpArray2D<float> A(bench, size, 0);
std::cout << "A with col size to 0:\n" << A << std::endl;
CHECK(test("A", A, bench));
CHECK(A.getRows() == bench.size());
CHECK(A.getCols() == 1);
}
SECTION("Set r=3 and c=4")
{
vpArray2D<float> A(bench, 3, 4);
std::cout << "A with r=3 and c=4:\n" << A << std::endl;
CHECK(test("A", A, bench));
CHECK(A.getRows() == 3);
CHECK(A.getCols() == 4);
}
}
}
TEST_CASE("Test Hadamar product", "[hadamar]")
{
vpArray2D<int> A1(3, 5), A2(3, 5), A3;
vpRowVector R1(15), R2(15), R3;
vpColVector C1(15), C2(15), C3;
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;
A3 = A1.hadamard(A2);
CHECK(test_hadamar(A1, A2, A3));
std::cout << "\nRes hadamar(A1, A2):\n" << A3 << std::endl;
std::cout << "\nR1:\n" << R1 << std::endl;
std::cout << "\nR2:\n" << R2 << std::endl;
R3 = R1.hadamard(R2);
CHECK(test_hadamar(R1, R2, R3));
std::cout << "\nRes hadamar(R1, R2):\n" << R3 << std::endl;
std::cout << "\nC1:\n" << C1 << std::endl;
std::cout << "\nC2:\n" << C2 << std::endl;
C3 = C1.hadamard(C2);
CHECK(test_hadamar(C1, C2, C3));
std::cout << "\nRes hadamar(C1, C2):\n" << C3 << std::endl;
}
int main(int argc, char *argv[])
{
Catch::Session session; // There must be exactly one instance
// Let Catch (using Clara) parse the command line
session.applyCommandLine(argc, argv);
int numFailed = session.run();
// numFailed is clamped to 255 as some unices only use the lower 8 bits.
// This clamping has already been applied, so just return it here
// You can also do any post run clean-up here
std::cout << (numFailed ? "Test failed" : "Test succeed") << std::endl;
return numFailed;
}
#else
int main() { return EXIT_SUCCESS; }
#endif
Implementation of a generic 2D array used as base class for matrices and vectors.
Definition: vpArray2D.h:145
unsigned int getCols() const
Definition: vpArray2D.h:337
Type * data
Address of the first element of the data array.
Definition: vpArray2D.h:148
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
Definition: vpArray2D.h:362
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:349
unsigned int getRows() const
Definition: vpArray2D.h:347
vpArray2D< Type > hadamard(const vpArray2D< Type > &m) const
Definition: vpArray2D.h:1147
Implementation of column vector and the associated operations.
Definition: vpColVector.h:191
vpColVector hadamard(const vpColVector &v) const
Implementation of row vector and the associated operations.
Definition: vpRowVector.h:124
vpRowVector hadamard(const vpRowVector &v) const