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Move CompareModel to a separate library.

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PiperOrigin-RevId: 927174846
Change-Id: Ia8b8b2c8593133d8910399be755e614282bf3252
This commit is contained in:
Yuval Tassa
2026-06-05 02:44:22 -07:00
committed by Copybara-Service
parent 5ce9a0ad0b
commit d80a847bae
14 changed files with 186 additions and 108 deletions
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test/fixture.cc
-104
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@@ -192,110 +192,6 @@ std::vector<mjtNum> GetCtrlNoise(const mjModel* m, int nsteps,
return ctrl;
}
template <typename T>
auto Compare(T val1, T val2);
auto Compare(char val1, char val2) {
return val1 != val2;
}
auto Compare(unsigned char val1, unsigned char val2) {
return val1 != val2;
}
auto Compare(bool val1, bool val2) {
return val1 != val2;
}
auto Compare(mjtSize val1, mjtSize val2) {
return val1 > val2 ? val1 - val2 : val2 - val1;
}
// 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 (std::abs(val1) <= 1 || std::abs(val2) <= 1) {
// Absolute precision for small numbers
error = std::abs(val1-val2);
} else {
// Relative precision for larger numbers
ReturnType magnitude = std::abs(val1) + std::abs(val2);
error = std::abs(val1/magnitude - val2/magnitude) / magnitude;
}
ReturnType safety_factor = 200;
return error < safety_factor * std::numeric_limits<ReturnType>::epsilon()
? 0
: error;
}
mjtNum CompareModel(const mjModel* m1, const mjModel* m2,
std::string& field) {
mjtNum dif, maxdif = 0.0;
// define symbols corresponding to number of columns
// (needed in MJMODEL_POINTERS)
MJMODEL_POINTERS_PREAMBLE(m1);
// compare ints, exclude nbuffer because it hides the actual difference
#define X(name) \
if constexpr (std::string_view(#name) != "nbuffer") { \
if (m1->name != m2->name) { \
maxdif = std::abs((long)m1->name - (long)m2->name); \
field = #name; \
} \
}
MJMODEL_SIZES
#undef X
if (maxdif > 0) return maxdif;
// compare arrays, apart from bvh-related ones (which includes flex_vert0), as
// those are sensitive to numerical differences when meshes are perfectly
// symmetric. Also skip flex fields derived from node local positions and
// cell geometry that are not fully serialized to XML.
#define X(type, name, nr, nc) \
if (strncmp(#name, "bvh_", 4) && \
strncmp(#name, "flex_vert", 9) && \
strncmp(#name, "mesh_poly", 9) && \
strcmp(#name, "flex_centered") && \
strcmp(#name, "flex_size") && \
strcmp(#name, "flexedge_length0") && \
strcmp(#name, "flexedge_invweight0") && \
strncmp(#name, "flex_node", 9)) { \
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; \
field = #name; \
field += " row: " + std::to_string(r); \
field += " col: " + std::to_string(c); \
} \
} \
} \
} // NOLINT
MJMODEL_POINTERS
#undef X
// compare fields in mjOption
#define X(type, name, n) \
dif = Compare(m1->opt.name, m2->opt.name); \
if (dif > maxdif) {maxdif = dif; field = #name;}
#define XVEC(type, name, n) \
for (int c=0; c < n; c++) { \
dif = Compare(m1->opt.name[c], m2->opt.name[c]); \
if (dif > maxdif) {maxdif = dif; field = #name;} }
MJOPTION_FIELDS
#undef XVEC
#undef X
// Return largest difference and field name
return maxdif;
}
MockFilesystem::MockFilesystem(std::string unit_test_name) {
prefix_ = absl::StrCat("MjMock.", unit_test_name);