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Move CompareModel to fixture.

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PiperOrigin-RevId: 612759913
Change-Id: Ia5741a858003211c58c47a20d447dcbc041c8b5d
This commit is contained in:
Alessio Quaglino
2024-03-05 02:23:21 -08:00
committed by Copybara-Service
parent e142bca7f2
commit 9efa4ebe0b
3 changed files with 73 additions and 71 deletions
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test/xml/xml_native_writer_test.cc
+1 -71
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@@ -14,7 +14,6 @@
// Tests for xml/xml_native_writer.cc.
#include <type_traits>
#if defined(__unix__) || (defined(__APPLE__) && defined(__MACH__))
#include <unistd.h>
#endif
@@ -31,7 +30,6 @@
#include <absl/strings/match.h>
#include <mujoco/mjmodel.h>
#include <mujoco/mjtnum.h>
#include <mujoco/mjxmacro.h>
#include <mujoco/mujoco.h>
#include "src/cc/array_safety.h"
#include "src/xml/xml_numeric_format.h"
@@ -1156,74 +1154,6 @@ TEST_F(XMLWriterLocaleTest, IgnoresLocale) {
// ------------------- test loading and saving multiple files ------------------
namespace mju = ::mujoco::util;
static constexpr int kFieldSize = 500;
// The maximum spacing between a normalised floating point number x and an
// adjacent normalised number is 2 epsilon |x|; a factor 10 is added accounting
// for losses during non-idempotent operations such as vector normalizations.
template <typename T>
auto Compare(T val1, T val2) {
using ReturnType =
std::conditional_t<std::is_same_v<T, float>, float, double>;
ReturnType error;
if (mju_abs(val1) <= 1 || mju_abs(val2) <= 1) {
// Absolute precision for small numbers
error = mju_abs(val1-val2);
} else {
// Relative precision for larger numbers
ReturnType magnitude = mju_abs(val1) + mju_abs(val2);
error = mju_abs(val1/magnitude - val2/magnitude) / magnitude;
}
ReturnType safety_factor = 10;
return error < safety_factor * std::numeric_limits<ReturnType>::epsilon()
? 0
: error;
}
mjtNum CompareModel(const mjModel* m1, const mjModel* m2,
char (&field)[kFieldSize]) {
mjtNum dif, maxdif = 0.0;
// define symbols corresponding to number of columns
// (needed in MJMODEL_POINTERS)
MJMODEL_POINTERS_PREAMBLE(m1);
// compare ints
#define X(name) \
if (m1->name != m2->name) {maxdif = 1.0; mju::strcpy_arr(field, #name);}
MJMODEL_INTS
#undef X
if (maxdif > 0) return maxdif;
// compare arrays
#define X(type, name, nr, nc) \
for (int r=0; r < m1->nr; r++) \
for (int c=0; c < nc; c++) { \
dif = Compare(m1->name[r*nc+c], m2->name[r*nc+c]); \
if (dif > maxdif) { maxdif = dif; mju::strcpy_arr(field, #name);} }
MJMODEL_POINTERS
#undef X
// compare scalars in mjOption
#define X(type, name) \
dif = Compare(m1->opt.name, m2->opt.name); \
if (dif > maxdif) {maxdif = dif; mju::strcpy_arr(field, #name);}
MJOPTION_SCALARS
#undef X
// compare arrays in mjOption
#define X(name, n) \
for (int c=0; c < n; c++) { \
dif = Compare(m1->opt.name[c], m2->opt.name[c]); \
if (dif > maxdif) {maxdif = dif; mju::strcpy_arr(field, #name);} }
MJOPTION_VECTORS
#undef X
// Return largest difference and field name
return maxdif;
}
TEST_F(XMLWriterTest, WriteReadCompare) {
// full precision float printing
FullFloatPrecision increase_precision;
@@ -1270,7 +1200,7 @@ TEST_F(XMLWriterTest, WriteReadCompare) {
absl::StrContains(p.path().string(), "belt.xml") ? 1e-13 : 0;
// compare and delete
char field[kFieldSize] = "";
std::string field = "";
mjtNum result = CompareModel(m, mtemp, field);
EXPECT_LE(result, tol)
<< "Loaded and saved models are different!\n"