Visual Servoing Platform  version 3.4.1 under development (2021-10-17)
testRowVector.cpp
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31  * Description:
32  * Test some vpColVector functionalities.
33  *
34  * Authors:
35  * Eric Marchand
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37  *****************************************************************************/
38 
45 #include <stdio.h>
46 #include <stdlib.h>
47 
48 #include <visp3/core/vpMath.h>
49 #include <visp3/core/vpRowVector.h>
50 
51 bool test(const std::string &s, const vpRowVector &v, const std::vector<double> &bench)
52 {
53  static unsigned int cpt = 0;
54  std::cout << "** Test " << ++cpt << std::endl;
55  std::cout << s << "(" << v.getRows() << "," << v.getCols() << ") = [" << v << "]" << std::endl;
56  if (bench.size() != v.size()) {
57  std::cout << "Test fails: bad size wrt bench" << std::endl;
58  return false;
59  }
60  for (unsigned int i = 0; i < v.size(); i++) {
61  if (std::fabs(v[i] - bench[i]) > std::fabs(v[i]) * std::numeric_limits<double>::epsilon()) {
62  std::cout << "Test fails: bad content" << std::endl;
63  return false;
64  }
65  }
66 
67  return true;
68 }
69 
70 int main()
71 {
72  int err = 1;
73 
74  {
75  vpRowVector v;
76 
77  v.resize(4);
78  v = 3;
79  std::vector<double> bench1(4, 3);
80  if (test("v", v, bench1) == false)
81  return err;
82  std::vector<double> bench2(4, 3. / 6);
83  v.normalize();
84  if (test("v", v, bench2) == false)
85  return err;
86 
87  v.resize(1, 5, true);
88  std::vector<double> bench3(5, 0);
89  if (test("v", v, bench3) == false)
90  return err;
91  }
92 
93  {
94  vpRowVector v(4);
95  std::vector<double> bench1(4);
96  for (unsigned int i = 0; i < v.size(); i++) {
97  v[i] = (double)i;
98  bench1[i] = (double)i;
99  }
100  if (test("v", v, bench1) == false)
101  return err;
102 
103  vpRowVector w;
104  w.init(v, 0, 2);
105  std::vector<double> bench2;
106  bench2.push_back(0);
107  bench2.push_back(1);
108  if (test("w", w, bench2) == false)
109  return err;
110 
111  std::vector<double> bench3;
112  bench3.push_back(1);
113  bench3.push_back(2);
114  bench3.push_back(3);
115 
116  vpRowVector r1;
117  for (size_t i = 0; i < 4; i++)
118  r1.stack((double)i);
119 
120  vpRowVector r2 = r1.extract(1, 3);
121  if (test("r2", r2, bench3) == false)
122  return err;
123  }
124  {
125  vpMatrix M(1, 4);
126  std::vector<double> bench(4);
127  for (unsigned int i = 0; i < M.getCols(); i++) {
128  M[0][i] = i;
129  bench[i] = i;
130  }
131  if (test("M", M, bench) == false)
132  return err;
133  vpRowVector v;
134  v = M;
135  if (test("v", v, bench) == false)
136  return err;
137  vpRowVector w(M);
138  if (test("w", w, bench) == false)
139  return err;
140  vpRowVector z1(bench);
141  if (test("z1", z1, bench) == false)
142  return err;
143  vpRowVector z2 = bench;
144  if (test("z2", z2, bench) == false)
145  return err;
146  }
147  {
148  vpRowVector v(3);
149  v[0] = 1;
150  v[1] = 2;
151  v[2] = 3;
152  std::vector<double> bench1;
153  bench1.push_back(3);
154  bench1.push_back(6);
155  bench1.push_back(9);
156 
157  vpRowVector w = v * 3;
158  // v is unchanged
159  // w is now equal to : [3 6 9]
160  if (test("w", w, bench1) == false)
161  return err;
162 
163  vpRowVector x(w);
164  if (test("x", x, bench1) == false)
165  return err;
166 
167  std::vector<float> bench2;
168  bench2.push_back(3);
169  bench2.push_back(6);
170  bench2.push_back(9);
171  vpRowVector y1(bench2);
172  if (test("y1", y1, bench1) == false)
173  return err;
174  vpRowVector y2 = bench2;
175  if (test("y2", y2, bench1) == false)
176  return err;
177  }
178  {
179  vpRowVector r1(3, 1);
180  vpRowVector r2 = -r1;
181  std::vector<double> bench(3, -1);
182  // v contains [-1 -1 -1]
183  if (test("r2", r2, bench) == false)
184  return err;
185  r2.stack(-2);
186  bench.push_back(-2);
187  if (test("r2", r2, bench) == false)
188  return err;
189  vpRowVector r3 = vpRowVector::stack(r1, r2);
190  std::vector<double> bench3(7, 1);
191  bench3[3] = bench3[4] = bench3[5] = -1;
192  bench3[6] = -2;
193  if (test("r3", r3, bench3) == false)
194  return err;
195 
196  r1.stack(r2);
197  if (test("r1", r1, bench3) == false)
198  return err;
199  }
200  {
201  vpRowVector r1(3, 2);
202  vpRowVector r2(3, 4);
203  vpRowVector r = r1 + r2;
204  std::vector<double> bench(3, 6);
205  if (test("r", r, bench) == false)
206  return err;
207  r1 += r2;
208  if (test("r1", r1, bench) == false)
209  return err;
210  }
211  {
212  vpRowVector r1(3, 2);
213  vpRowVector r2(3, 4);
214  vpRowVector r = r1 - r2;
215  std::vector<double> bench(3, -2);
216  if (test("r", r, bench) == false)
217  return err;
218  r1 -= r2;
219  if (test("r1", r1, bench) == false)
220  return err;
221  }
222  {
223  vpRowVector r(5, 1);
224  r.clear();
225  r.resize(5);
226  r = 5;
227  std::vector<double> bench(5, 5);
228  if (test("r", r, bench) == false)
229  return err;
230  }
231  {
232  // Test mean, median and standard deviation against Matlab with rng(0) and
233  // rand(10,1)*10
234  vpRowVector r(10);
235  r[0] = 8.1472;
236  r[1] = 9.0579;
237  r[2] = 1.2699;
238  r[3] = 9.1338;
239  r[4] = 6.3236;
240  r[5] = 0.9754;
241  r[6] = 2.7850;
242  r[7] = 5.4688;
243  r[8] = 9.5751;
244  r[9] = 9.6489;
245 
246  std::cout << "** Test mean" << std::endl;
247  double res = vpRowVector::mean(r);
248  if (!vpMath::equal(res, 6.2386, 0.001)) {
249  std::cout << "Test fails: bad mean " << res << std::endl;
250  return err;
251  }
252 
253  std::cout << "** Test stdev" << std::endl;
254  res = vpRowVector::stdev(r);
255  if (!vpMath::equal(res, 3.2810, 0.001)) {
256  std::cout << "Test fails: bad stdev " << res << std::endl;
257  return err;
258  }
259 
260  std::cout << "** Test stdev(bessel)" << std::endl;
261  res = vpRowVector::stdev(r, true);
262  if (!vpMath::equal(res, 3.4585, 0.001)) {
263  std::cout << "Test fails: bad stdev(bessel) " << res << std::endl;
264  return err;
265  }
266 
267  std::cout << "** Test median" << std::endl;
268  res = vpRowVector::median(r);
269  if (!vpMath::equal(res, 7.2354, 0.001)) {
270  std::cout << "Test fails: bad median " << res << std::endl;
271  return err;
272  }
273 
274  // Test median with odd number of elements
275  std::cout << "** Test median (odd)" << std::endl;
276  r.stack(1.5761);
277  res = vpRowVector::median(r);
278  if (!vpMath::equal(res, 6.3236, 0.001)) {
279  std::cout << "Test fails: bad median (odd) " << res << std::endl;
280  return err;
281  }
282  std::cout << "r: [" << r << "]" << std::endl;
283  r.print(std::cout, 8, "r");
284  }
285 
286  {
287  std::cout << "** Test conversion to/from std::vector" << std::endl;
288  std::vector<double> std_vector(5);
289  for (size_t i = 0; i < std_vector.size(); i++) {
290  std_vector[i] = (double) i;
291  }
292  vpRowVector v(std_vector);
293  if (test("v", v, std_vector) == false)
294  return EXIT_FAILURE;
295 
296  std_vector.clear();
297  std_vector = v.toStdVector();
298  if (test("v", v, std_vector) == false)
299  return EXIT_FAILURE;
300  }
301  std::cout << "All tests succeed" << std::endl;
302  return 0;
303 }
Implementation of a matrix and operations on matrices.
Definition: vpMatrix.h:153
vpRowVector & normalize()
static double median(const vpRowVector &v)
void init(const vpRowVector &v, unsigned int c, unsigned int ncols)
Implementation of row vector and the associated operations.
Definition: vpRowVector.h:115
std::vector< double > toStdVector()
static bool equal(double x, double y, double s=0.001)
Definition: vpMath.h:293
unsigned int getRows() const
Definition: vpArray2D.h:289
static double mean(const vpRowVector &v)
unsigned int size() const
Return the number of elements of the 2D array.
Definition: vpArray2D.h:291
static double stdev(const vpRowVector &v, bool useBesselCorrection=false)
int print(std::ostream &s, unsigned int length, char const *intro=0) const
unsigned int getCols() const
Definition: vpArray2D.h:279
vpRowVector extract(unsigned int c, unsigned int rowsize) const
Definition: vpRowVector.h:191
void stack(double d)
void clear()
Definition: vpRowVector.h:146
void resize(unsigned int i, bool flagNullify=true)
Definition: vpRowVector.h:271