Version 2.1.2: Python bindings, OBJ assets support, bugfixes.

PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
2022-03-15 14:04:44 +00:00
parent 175d25cd9f
commit 3577e2cf8b
304 changed files with 23906 additions and 1013 deletions
@@ -0,0 +1,95 @@
+// Copyright 2022 DeepMind Technologies Limited
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+#include "array_traits.h"
+
+#include <type_traits>
+
+#include <gmock/gmock.h>
+#include <gtest/gtest.h>
+
+namespace mujoco::util {
+namespace {
+
+using ::testing::ElementsAre;
+
+TEST(ArrayTraitsTest, CArrayType) {
+  struct Foo {};
+  static_assert(std::is_same_v<c_array_t<int, 3, 4, 5>,
+                               int[3][4][5]>);
+  static_assert(std::is_same_v<c_array_t<double>,
+                               double>);
+  static_assert(std::is_same_v<c_array_t<Foo, 7>,
+                               Foo[7]>);
+  static_assert(std::is_same_v<c_array_t<Foo*, 3, 4, 5, 6>,
+                               Foo*[3][4][5][6]>);
+}
+
+TEST(ArrayTraitsTest, ArrayNdim) {
+  struct Foo {};
+  EXPECT_EQ(array_ndim_v<int[3][4][5]>, 3);
+  EXPECT_EQ(array_ndim_v<double(*)[3][4]>, 2);
+  EXPECT_EQ(array_ndim_v<Foo*[3][4]>, 2);
+  EXPECT_EQ(array_ndim_v<Foo(&)[3][4][5][6]>, 4);
+}
+
+TEST(ArrayTraitsTest, ArrayScalarType) {
+  struct Foo {};
+  static_assert(std::is_same_v<
+      array_scalar_t<int[3][4][5]>,
+      int
+  >);
+  static_assert(std::is_same_v<
+      array_scalar_t<double(*)[3][4]>,
+      double
+  >);
+  static_assert(std::is_same_v<
+      array_scalar_t<Foo*[3][4]>,
+      Foo*
+  >);
+  static_assert(std::is_same_v<
+      array_scalar_t<Foo(&)[3][4][5][6]>,
+      Foo
+  >);
+}
+
+TEST(ArrayTraitsTest, MakeEigen) {
+  {
+    auto eigen = MakeEigen<float[3]>();
+    static_assert(std::is_same_v<
+        decltype(eigen),
+        Eigen::Vector3f
+    >);
+  }
+  {
+    auto eigen = MakeEigen<int[2][3]>();
+    static_assert(std::is_same_v<
+        decltype(eigen),
+        Eigen::Matrix<int, 2, 3, Eigen::RowMajor>
+    >);
+  }
+  {
+    auto eigen = MakeEigen<double[2][3][4]>();
+    static_assert(std::is_same_v<
+        decltype(eigen),
+        Eigen::Tensor<double, 3, Eigen::RowMajor, Eigen::DenseIndex>
+    >);
+    EXPECT_THAT(eigen.dimensions(), ElementsAre(2, 3, 4));
+  }
+}
+
+
+
+}  // namespace
+}  // namespace mujoco::util