Visual Servoing Platform  version 3.6.1 under development (2024-02-13)
testRowVector.cpp
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32  * Test some vpColVector functionalities.
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35 
42 #include <stdio.h>
43 #include <stdlib.h>
44 
45 #include <visp3/core/vpMath.h>
46 #include <visp3/core/vpRowVector.h>
47 
48 bool test(const std::string &s, const vpRowVector &v, const std::vector<double> &bench)
49 {
50  static unsigned int cpt = 0;
51  std::cout << "** Test " << ++cpt << std::endl;
52  std::cout << s << "(" << v.getRows() << "," << v.getCols() << ") = [" << v << "]" << std::endl;
53  if (bench.size() != v.size()) {
54  std::cout << "Test fails: bad size wrt bench" << std::endl;
55  return false;
56  }
57  for (unsigned int i = 0; i < v.size(); i++) {
58  if (std::fabs(v[i] - bench[i]) > std::fabs(v[i]) * std::numeric_limits<double>::epsilon()) {
59  std::cout << "Test fails: bad content" << std::endl;
60  return false;
61  }
62  }
63 
64  return true;
65 }
66 
67 int main()
68 {
69  int err = 1;
70 
71  {
72  vpRowVector v;
73 
74  v.resize(4);
75  v = 3;
76  std::vector<double> bench1(4, 3);
77  if (test("v", v, bench1) == false)
78  return err;
79  std::vector<double> bench2(4, 3. / 6);
80  v.normalize();
81  if (test("v", v, bench2) == false)
82  return err;
83 
84  v.resize(1, 5, true);
85  std::vector<double> bench3(5, 0);
86  if (test("v", v, bench3) == false)
87  return err;
88  }
89 
90  {
91  vpRowVector v(4);
92  std::vector<double> bench1(4);
93  for (unsigned int i = 0; i < v.size(); i++) {
94  v[i] = (double)i;
95  bench1[i] = (double)i;
96  }
97  if (test("v", v, bench1) == false)
98  return err;
99 
100  vpRowVector w;
101  w.init(v, 0, 2);
102  std::vector<double> bench2;
103  bench2.push_back(0);
104  bench2.push_back(1);
105  if (test("w", w, bench2) == false)
106  return err;
107 
108  std::vector<double> bench3;
109  bench3.push_back(1);
110  bench3.push_back(2);
111  bench3.push_back(3);
112 
113  vpRowVector r1;
114  for (size_t i = 0; i < 4; i++)
115  r1.stack((double)i);
116 
117  vpRowVector r2 = r1.extract(1, 3);
118  if (test("r2", r2, bench3) == false)
119  return err;
120  }
121  {
122  vpMatrix M(1, 4);
123  std::vector<double> bench(4);
124  for (unsigned int i = 0; i < M.getCols(); i++) {
125  M[0][i] = i;
126  bench[i] = i;
127  }
128  if (test("M", M, bench) == false)
129  return err;
130  vpRowVector v;
131  v = M;
132  if (test("v", v, bench) == false)
133  return err;
134  vpRowVector w(M);
135  if (test("w", w, bench) == false)
136  return err;
137  vpRowVector z1(bench);
138  if (test("z1", z1, bench) == false)
139  return err;
140  vpRowVector z2 = bench;
141  if (test("z2", z2, bench) == false)
142  return err;
143  }
144  {
145  vpRowVector v(3);
146  v[0] = 1;
147  v[1] = 2;
148  v[2] = 3;
149  std::vector<double> bench1;
150  bench1.push_back(3);
151  bench1.push_back(6);
152  bench1.push_back(9);
153 
154  vpRowVector w = v * 3;
155  // v is unchanged
156  // w is now equal to : [3 6 9]
157  if (test("w", w, bench1) == false)
158  return err;
159 
160  vpRowVector x(w);
161  if (test("x", x, bench1) == false)
162  return err;
163 
164  std::vector<float> bench2;
165  bench2.push_back(3);
166  bench2.push_back(6);
167  bench2.push_back(9);
168  vpRowVector y1(bench2);
169  if (test("y1", y1, bench1) == false)
170  return err;
171  vpRowVector y2 = bench2;
172  if (test("y2", y2, bench1) == false)
173  return err;
174  }
175  {
176  vpRowVector r1(3, 1);
177  vpRowVector r2 = -r1;
178  std::vector<double> bench(3, -1);
179  // v contains [-1 -1 -1]
180  if (test("r2", r2, bench) == false)
181  return err;
182  r2.stack(-2);
183  bench.push_back(-2);
184  if (test("r2", r2, bench) == false)
185  return err;
186  vpRowVector r3 = vpRowVector::stack(r1, r2);
187  std::vector<double> bench3(7, 1);
188  bench3[3] = bench3[4] = bench3[5] = -1;
189  bench3[6] = -2;
190  if (test("r3", r3, bench3) == false)
191  return err;
192 
193  r1.stack(r2);
194  if (test("r1", r1, bench3) == false)
195  return err;
196  }
197  {
198  vpRowVector r1(3, 2);
199  vpRowVector r2(3, 4);
200  vpRowVector r = r1 + r2;
201  std::vector<double> bench(3, 6);
202  if (test("r", r, bench) == false)
203  return err;
204  r1 += r2;
205  if (test("r1", r1, bench) == false)
206  return err;
207  }
208  {
209  vpRowVector r1(3, 2);
210  vpRowVector r2(3, 4);
211  vpRowVector r = r1 - r2;
212  std::vector<double> bench(3, -2);
213  if (test("r", r, bench) == false)
214  return err;
215  r1 -= r2;
216  if (test("r1", r1, bench) == false)
217  return err;
218  }
219  {
220  vpRowVector r(5, 1);
221  r.clear();
222  r.resize(5);
223  r = 5;
224  std::vector<double> bench(5, 5);
225  if (test("r", r, bench) == false)
226  return err;
227  }
228  {
229  // Test mean, median and standard deviation against Matlab with rng(0) and
230  // rand(10,1)*10
231  vpRowVector r(10);
232  r[0] = 8.1472;
233  r[1] = 9.0579;
234  r[2] = 1.2699;
235  r[3] = 9.1338;
236  r[4] = 6.3236;
237  r[5] = 0.9754;
238  r[6] = 2.7850;
239  r[7] = 5.4688;
240  r[8] = 9.5751;
241  r[9] = 9.6489;
242 
243  std::cout << "** Test mean" << std::endl;
244  double res = vpRowVector::mean(r);
245  if (!vpMath::equal(res, 6.2386, 0.001)) {
246  std::cout << "Test fails: bad mean " << res << std::endl;
247  return err;
248  }
249 
250  std::cout << "** Test stdev" << std::endl;
251  res = vpRowVector::stdev(r);
252  if (!vpMath::equal(res, 3.2810, 0.001)) {
253  std::cout << "Test fails: bad stdev " << res << std::endl;
254  return err;
255  }
256 
257  std::cout << "** Test stdev(bessel)" << std::endl;
258  res = vpRowVector::stdev(r, true);
259  if (!vpMath::equal(res, 3.4585, 0.001)) {
260  std::cout << "Test fails: bad stdev(bessel) " << res << std::endl;
261  return err;
262  }
263 
264  std::cout << "** Test median" << std::endl;
265  res = vpRowVector::median(r);
266  if (!vpMath::equal(res, 7.2354, 0.001)) {
267  std::cout << "Test fails: bad median " << res << std::endl;
268  return err;
269  }
270 
271  // Test median with odd number of elements
272  std::cout << "** Test median (odd)" << std::endl;
273  r.stack(1.5761);
274  res = vpRowVector::median(r);
275  if (!vpMath::equal(res, 6.3236, 0.001)) {
276  std::cout << "Test fails: bad median (odd) " << res << std::endl;
277  return err;
278  }
279  std::cout << "r: [" << r << "]" << std::endl;
280  r.print(std::cout, 8, "r");
281  }
282 
283  {
284  std::cout << "** Test conversion to/from std::vector" << std::endl;
285  std::vector<double> std_vector(5);
286  for (size_t i = 0; i < std_vector.size(); i++) {
287  std_vector[i] = (double)i;
288  }
289  vpRowVector v(std_vector);
290  if (test("v", v, std_vector) == false)
291  return EXIT_FAILURE;
292 
293  std_vector.clear();
294  std_vector = v.toStdVector();
295  if (test("v", v, std_vector) == false)
296  return EXIT_FAILURE;
297  }
298  std::cout << "All tests succeed" << std::endl;
299  return EXIT_SUCCESS;
300 }
unsigned int getCols() const
Definition: vpArray2D.h:274
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:286
unsigned int getRows() const
Definition: vpArray2D.h:284
static bool equal(double x, double y, double threshold=0.001)
Definition: vpMath.h:449
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:146
Implementation of row vector and the associated operations.
Definition: vpRowVector.h:107
void resize(unsigned int i, bool flagNullify=true)
Definition: vpRowVector.h:259
static double mean(const vpRowVector &v)
void stack(double d)
void init(const vpRowVector &v, unsigned int c, unsigned int ncols)
void clear()
Definition: vpRowVector.h:133
vpRowVector & normalize()
static double median(const vpRowVector &v)
std::vector< double > toStdVector() const
static double stdev(const vpRowVector &v, bool useBesselCorrection=false)
vpRowVector extract(unsigned int c, unsigned int rowsize) const
Definition: vpRowVector.h:179
int print(std::ostream &s, unsigned int length, char const *intro=0) const