Saran Tunyasuvunakool
3577e2cf8b
PiperOrigin-RevId: 434731612 Change-Id: I0cfda3e7a3d1c72036764986efc252ffa1b8c6b0
103 lines
2.9 KiB
C++
103 lines
2.9 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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#include "func_wrap.h"
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#include <string>
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#include <type_traits>
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#include <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <Eigen/Eigen>
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#include "func_traits.h"
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namespace {
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struct BoxedDouble {
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double value;
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};
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struct BoxedInt {
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int value;
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};
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} // namespace
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namespace mujoco::util {
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template <> struct wrapped<BoxedDouble> {
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static BoxedDouble unwrap(const std::string& wrapped) {
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return BoxedDouble{std::stod(wrapped)};
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}
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};
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template <> struct wrapped<BoxedInt> {
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static BoxedInt unwrap(int wrapped) {
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return BoxedInt{wrapped};
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}
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};
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template <typename T, int N> struct wrapped<T(*)[N]> {
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using Array = T[N];
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static Array* unwrap(Eigen::Ref<Eigen::Vector<T, N>> wrapped) {
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return reinterpret_cast<Array*>(wrapped.data());
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}
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};
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template <typename T, int N> struct wrapped<const T(*)[N]> {
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using Array = const T[N];
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static Array* unwrap(const Eigen::Vector<T, N>& wrapped) {
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return reinterpret_cast<Array*>(wrapped.data());
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}
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};
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} // namespace mujoco::util
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namespace {
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using ::mujoco::util::func_arg_t;
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using ::mujoco::util::UnwrapArgs;
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using ::mujoco::util::ReturnArrayArg0;
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double add(BoxedDouble x, float y, BoxedInt z) {
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return x.value + y + z.value;
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}
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void add_array4(double (*out)[4], const double (*x)[4], const double (*y)[4]) {
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for (int i = 0; i < 4; ++i) {
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(*out)[i] = (*x)[i] + (*y)[i];
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}
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}
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TEST(FuncWrapTest, UnwrapArgs) {
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{
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auto wrapped_add = UnwrapArgs(add);
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static_assert(std::is_same_v<
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func_arg_t<decltype(wrapped_add), 0>, const std::string&
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>);
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static_assert(std::is_same_v<
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func_arg_t<decltype(wrapped_add), 1>, float
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>);
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static_assert(std::is_same_v<
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func_arg_t<decltype(wrapped_add), 2>, int
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>);
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// Use binary powers so that we can do exact floating point comparison.
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EXPECT_EQ(wrapped_add("1.6e+1", 5e-1, 2), 18.5);
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}
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{
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Eigen::Vector4d out;
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UnwrapArgs(add_array4)(out, {1, 3, 5, 7}, {2, 6, 9, 11});
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EXPECT_THAT(out, ::testing::ElementsAre(3, 9, 14, 18));
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}
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}
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TEST(FuncWrapTest, ReturnArrayArg0) {
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auto out = UnwrapArgs(ReturnArrayArg0(add_array4))({1, 3, 5, 7},
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{2, 6, 9, 11});
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static_assert(std::is_same_v<decltype(out), Eigen::Vector4d>);
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EXPECT_THAT(out, ::testing::ElementsAre(3, 9, 14, 18));
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}
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} // namespace
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