Yuval Tassa
49efa9cc15
Note: this function is currently unused in the MuJoCo codebase. PiperOrigin-RevId: 529969804 Change-Id: I2bddc72916eff67625b806510935bc7f3ce5c770
75 lines
2.4 KiB
C++
75 lines
2.4 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 <gmock/gmock.h>
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#include <gtest/gtest.h>
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#include <mujoco/mjdata.h>
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#include <mujoco/mujoco.h>
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#include "src/engine/engine_util_misc.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::HasSubstr;
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using ::testing::DoubleNear;
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TEST_F(MujocoTest, PrintsMemoryWarning) {
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EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 10)),
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HasSubstr("1K bytes"));
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EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 20)),
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HasSubstr("1M bytes"));
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EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 30)),
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HasSubstr("1G bytes"));
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EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 40)),
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HasSubstr("1T bytes"));
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EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 50)),
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HasSubstr("1P bytes"));
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EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 60)),
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HasSubstr("1E bytes"));
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EXPECT_THAT(mju_warningText(mjWARN_CNSTRFULL, pow(2, 30) + 1),
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HasSubstr("1073741825 bytes"));
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}
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TEST_F(MujocoTest, Sigmoid) {
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// function values
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EXPECT_EQ(mju_sigmoid(-1), 0);
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EXPECT_EQ(mju_sigmoid(0), 0);
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EXPECT_EQ(mju_sigmoid(0.5), 0.5);
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EXPECT_EQ(mju_sigmoid(1), 1);
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EXPECT_EQ(mju_sigmoid(2), 1);
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// epsilon for finite-differencing
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const mjtNum dx = 1e-7;
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// derivative at 0
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mjtNum dy_dx_0 = (mju_sigmoid(0 + dx) - mju_sigmoid(0)) / dx;
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EXPECT_THAT(dy_dx_0, DoubleNear(0, dx));
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// derivative at 1
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mjtNum dy_dx_1 = (mju_sigmoid(1) - mju_sigmoid(1 - dx)) / dx;
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EXPECT_THAT(dy_dx_1, DoubleNear(0, dx));
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// derivative at 0.5
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const mjtNum x = 0.5;
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mjtNum dy_dx_0p5 = (mju_sigmoid(x + dx) - mju_sigmoid(x - dx)) / (2*dx);
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mjtNum expected = 30*x*x*x*x - 60*x*x*x + 30*x*x;
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EXPECT_THAT(dy_dx_0p5, DoubleNear(expected, dx));
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}
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} // namespace
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} // namespace mujoco
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