Saran Tunyasuvunakool
1913a02b40
PiperOrigin-RevId: 450374687 Change-Id: Ie3225a46ce095fc28ae8e63c326a640261f562bb
67 lines
1.8 KiB
C++
67 lines
1.8 KiB
C++
// Copyright 2021 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_solve.c.
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#include "src/engine/engine_util_solve.h"
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#include <gtest/gtest.h>
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#include <mujoco/mujoco.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 QCQP2Test = MujocoTest;
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TEST_F(QCQP2Test, DegenerateAMatrix) {
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// A 2x2 matrix with determinant zero.
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const mjtNum Ain[9] { 6, -15, 2, -5 };
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// Any values will do for these three inputs.
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const mjtNum bin[3] { -12, 49 };
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const mjtNum d[3] { 11, 31 };
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const mjtNum r = 0.01;
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// Make output array explicitly nonzero to simulate uninitialized memory.
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mjtNum res[2] { 999, 999 };
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EXPECT_EQ(mju_QCQP2(res, Ain, bin, d, r), 0);
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EXPECT_EQ(res[0], 0);
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EXPECT_EQ(res[1], 0);
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}
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using QCQP3Test = MujocoTest;
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TEST_F(QCQP3Test, DegenerateAMatrix) {
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// A 3x3 matrix with determinant zero.
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const mjtNum Ain[9] { 1, 4, -2, -3, -7, 5, 2, -9, 0 };
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// Any values will do for these three inputs.
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const mjtNum bin[3] { -12, 49, 8 };
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const mjtNum d[3] { 11, 31, -23 };
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const mjtNum r = 0.1;
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// Make output array explicitly nonzero to simulate uninitialized memory.
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mjtNum res[3] { 999, 999, 999 };
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EXPECT_EQ(mju_QCQP3(res, Ain, bin, d, r), 0);
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EXPECT_EQ(res[0], 0);
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EXPECT_EQ(res[1], 0);
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EXPECT_EQ(res[2], 0);
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}
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} // namespace
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} // namespace mujoco
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