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Manually parse inf and nan.

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The C++ standard library `std::istringstream` is not guaranteed to parse "inf" and "nan" as valid floating point numbers. In our testing, libc++ does this, but libstdc++ and MSVCRT do not.

PiperOrigin-RevId: 455435431
Change-Id: I99c00303b08c2e4e62acfa3ca52a21a3008f4545
This commit is contained in:
Saran Tunyasuvunakool
2022-06-16 11:57:19 -07:00
committed by Copybara-Service
parent 69a506e6ba
commit 0e5ce18cff
2 changed files with 76 additions and 14 deletions
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test/xml/xml_native_reader_test.cc
+37 -10
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@@ -16,6 +16,7 @@
#include <array>
#include <cstddef>
#include <limits>
#include <string>
#include <gmock/gmock.h>
@@ -32,6 +33,7 @@ namespace {
using ::std::string;
using ::testing::Eq;
using ::testing::HasSubstr;
using ::testing::IsNan;
using ::testing::IsNull;
using ::testing::NotNull;
@@ -133,12 +135,36 @@ TEST_F(UserDataTest, InvalidNUserSensor) {
EXPECT_THAT(error.data(), HasSubstr("nuser_sensor"));
}
TEST_F(UserDataTest, RaiseNanWarning) {
TEST_F(UserDataTest, CanParseInf) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1" axisangle="1.0 0.0 0.0 nan"/>
<geom size="1" pos="5e-1 -INF iNf"/>
<geom size="1" pos="inF -inf Inf"/>
</body>
</worldbody>
</mujoco>
)";
const double inf = std::numeric_limits<double>::infinity();
mjModel* model = LoadModelFromString(xml);
ASSERT_THAT(model, NotNull());
EXPECT_EQ(model->geom_pos[0], 0.5);
EXPECT_EQ(model->geom_pos[1], -inf);
EXPECT_THAT(model->geom_pos[2], inf);
EXPECT_EQ(model->geom_pos[3], inf);
EXPECT_EQ(model->geom_pos[4], -inf);
EXPECT_EQ(model->geom_pos[5], inf);
mj_deleteModel(model);
}
TEST_F(UserDataTest, CanParseNanAndRaisesWarning) {
static constexpr char xml[] = R"(
<mujoco>
<worldbody>
<body>
<geom size="1" pos="nan NaN NAN"/>
<geom size="1" pos="1.0 0.0 nAn"/>
</body>
</worldbody>
</mujoco>
@@ -150,14 +176,15 @@ TEST_F(UserDataTest, RaiseNanWarning) {
util::strcpy_arr(warning, msg);
};
mjModel* model = LoadModelFromString(xml, error.data(), error.size());
#if defined(_WIN32) || defined(__CYGWIN__)
ASSERT_THAT(model, IsNull());
EXPECT_THAT(error.data(), HasSubstr("problem reading attribute 'axisangle'"));
#else
ASSERT_THAT(model, NotNull());
EXPECT_THAT(warning, HasSubstr("XML contains a 'NaN'"));
mj_deleteModel(model);
#endif
ASSERT_THAT(model, NotNull());
EXPECT_THAT(warning, HasSubstr("XML contains a 'NaN'"));
EXPECT_THAT(model->geom_pos[0], IsNan());
EXPECT_THAT(model->geom_pos[1], IsNan());
EXPECT_THAT(model->geom_pos[2], IsNan());
EXPECT_EQ(model->geom_pos[3], 1);
EXPECT_EQ(model->geom_pos[4], 0);
EXPECT_THAT(model->geom_pos[5], IsNan());
mj_deleteModel(model);
}
TEST_F(UserDataTest, InvalidArrayElement) {