Yuval Tassa
c83be2bc05
- Also change signatures of `mju_fill` and `mju_symmetrize` to conform to standard. PiperOrigin-RevId: 485613824 Change-Id: I8dd618bac92ef40aa6c76380fa73302e81968687
100 lines
2.6 KiB
C++
100 lines
2.6 KiB
C++
// Copyright 2022 DeepMind Technologies Limited
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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// Tests for engine/engine_util_blas.c
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#include "src/engine/engine_util_blas.h"
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/mjtnum.h>
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#include "test/fixture.h"
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namespace mujoco {
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namespace {
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using ::testing::ElementsAre;
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using EngineUtilBlasTest = MujocoTest;
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TEST_F(EngineUtilBlasTest, MjuDot) {
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mjtNum a[] = {1, 2, 3, 4, 5, 6, 7};
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mjtNum b[] = {7, 6, 5, 4, 3, 2, 1};
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// test various vector lengths because mju_dot adds numbers in groups of four
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EXPECT_EQ(mju_dot(a, b, 0), 0);
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EXPECT_EQ(mju_dot(a, b, 1), 7);
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EXPECT_EQ(mju_dot(a, b, 2), 7 + 2*6);
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EXPECT_EQ(mju_dot(a, b, 3), 7 + 2*6 + 3*5);
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EXPECT_EQ(mju_dot(a, b, 4), 7 + 2*6 + 3*5 + 4*4);
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EXPECT_EQ(mju_dot(a, b, 5), 7 + 2*6 + 3*5 + 4*4 + 5*3);
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EXPECT_EQ(mju_dot(a, b, 6), 7 + 2*6 + 3*5 + 4*4 + 5*3 + 6*2);
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EXPECT_EQ(mju_dot(a, b, 7), 7 + 2*6 + 3*5 + 4*4 + 5*3 + 6*2 + 7);
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}
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TEST_F(EngineUtilBlasTest, MjuMulVecMatVec) {
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mjtNum vec1[] = {1, 2, 3};
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mjtNum vec2[] = {3, 2, 1};
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mjtNum mat[] = {
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1, 2, 3,
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4, 5, 6,
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7, 8, 9
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};
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EXPECT_EQ(mju_mulVecMatVec(vec1, mat, vec2, 3), 204);
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}
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TEST_F(EngineUtilBlasTest, MjuFill) {
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mjtNum vec[] = {0, 1, 4};
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mju_fill(vec, 4.5, 3);
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EXPECT_EQ(vec[0], 4.5);
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EXPECT_EQ(vec[1], 4.5);
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EXPECT_EQ(vec[2], 4.5);
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}
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TEST_F(EngineUtilBlasTest, MjuEye) {
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mjtNum mat1[1];
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mju_eye(mat1, 1);
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EXPECT_EQ(mat1[0], 1);
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mjtNum mat3[9];
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mju_eye(mat3, 3);
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EXPECT_THAT(mat3, ElementsAre(1, 0, 0,
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0, 1, 0,
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0, 0, 1));
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}
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TEST_F(EngineUtilBlasTest, MjuSymmetrize) {
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mjtNum mat[] = {
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1, 2.5, 3.5,
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1.5, 2, 4,
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2.5, 3, 3
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};
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mjtNum res[9] = {0};
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mju_symmetrize(res, mat, 3);
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EXPECT_THAT(res, ElementsAre(1, 2, 3,
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2, 2, 3.5,
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3, 3.5, 3));
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// test for the case res==mat
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mju_symmetrize(mat, mat, 3);
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EXPECT_THAT(mat, ElementsAre(1, 2, 3,
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2, 2, 3.5,
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3, 3.5, 3));
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}
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} // namespace
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} // namespace mujoco
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