Alessio Quaglino
7b0fbc63f8
PiperOrigin-RevId: 488360660 Change-Id: I423269cd362fdcc2434393b691638ac6ed778ef2
45 lines
1.6 KiB
C++
45 lines
1.6 KiB
C++
// Copyright 2022 DeepMind Technologies Limited
|
|
//
|
|
// Licensed under the Apache License, Version 2.0 (the "License");
|
|
// you may not use this file except in compliance with the License.
|
|
// You may obtain a copy of the License at
|
|
//
|
|
// http://www.apache.org/licenses/LICENSE-2.0
|
|
//
|
|
// Unless required by applicable law or agreed to in writing, software
|
|
// distributed under the License is distributed on an "AS IS" BASIS,
|
|
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
|
|
// See the License for the specific language governing permissions and
|
|
// limitations under the License.
|
|
|
|
// Tests for engine/engine_util_sparse.c
|
|
|
|
#include "src/engine/engine_util_sparse.h"
|
|
|
|
#include <gtest/gtest.h>
|
|
#include "test/fixture.h"
|
|
|
|
namespace mujoco {
|
|
namespace {
|
|
|
|
using EngineUtilSparseTest = MujocoTest;
|
|
|
|
TEST_F(EngineUtilSparseTest, MjuDot) {
|
|
mjtNum a[] = {1, 2, 3, 4, 5, 6, 7};
|
|
mjtNum b[] = {7, 0, 6, 0, 0, 5, 0, 0, 0, 4, 0, 0, 0, 3, 0, 0, 2, 0, 1};
|
|
int i[] = {0, 2, 5, 9, 13, 16, 18};
|
|
|
|
// test various vector lengths as mju_dotSparse adds numbers in groups of four
|
|
EXPECT_EQ(mju_dotSparse(a, b, 0, i), 0);
|
|
EXPECT_EQ(mju_dotSparse(a, b, 1, i), 7);
|
|
EXPECT_EQ(mju_dotSparse(a, b, 2, i), 7 + 2*6);
|
|
EXPECT_EQ(mju_dotSparse(a, b, 3, i), 7 + 2*6 + 3*5);
|
|
EXPECT_EQ(mju_dotSparse(a, b, 4, i), 7 + 2*6 + 3*5 + 4*4);
|
|
EXPECT_EQ(mju_dotSparse(a, b, 5, i), 7 + 2*6 + 3*5 + 4*4 + 5*3);
|
|
EXPECT_EQ(mju_dotSparse(a, b, 6, i), 7 + 2*6 + 3*5 + 4*4 + 5*3 + 6*2);
|
|
EXPECT_EQ(mju_dotSparse(a, b, 7, i), 7 + 2*6 + 3*5 + 4*4 + 5*3 + 6*2 + 7);
|
|
}
|
|
|
|
} // namespace
|
|
} // namespace mujoco
|