Yuval Tassa
d80a847bae
PiperOrigin-RevId: 927174846 Change-Id: Ia8b8b2c8593133d8910399be755e614282bf3252
139 lines
5.1 KiB
C++
139 lines
5.1 KiB
C++
// Copyright 2026 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 "test/compare_model.h"
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#include <cmath>
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#include <cstring>
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#include <limits>
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#include <string>
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#include <string_view>
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#include <type_traits>
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#include <mujoco/mjmodel.h>
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#include <mujoco/mjxmacro.h>
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#include <mujoco/mujoco.h>
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namespace mujoco {
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namespace {
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template <typename T>
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auto Compare(T val1, T val2);
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auto Compare(char val1, char val2) {
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return val1 != val2;
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}
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auto Compare(unsigned char val1, unsigned char val2) {
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return val1 != val2;
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}
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auto Compare(bool val1, bool val2) {
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return val1 != val2;
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}
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auto Compare(mjtSize val1, mjtSize val2) {
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return val1 > val2 ? val1 - val2 : val2 - val1;
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}
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// The maximum spacing between a normalised floating point number x and an
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// adjacent normalised number is 2 epsilon |x|; a factor 10 is added accounting
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// for losses during non-idempotent operations such as vector normalizations.
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template <typename T>
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auto Compare(T val1, T val2) {
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using ReturnType =
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std::conditional_t<std::is_same_v<T, float>, float, double>;
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ReturnType error;
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if (std::abs(val1) <= 1 || std::abs(val2) <= 1) {
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// Absolute precision for small numbers
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error = std::abs(val1-val2);
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} else {
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// Relative precision for larger numbers
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ReturnType magnitude = std::abs(val1) + std::abs(val2);
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error = std::abs(val1/magnitude - val2/magnitude) / magnitude;
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}
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ReturnType safety_factor = 200;
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return error < safety_factor * std::numeric_limits<ReturnType>::epsilon()
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? 0
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: error;
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}
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} // namespace
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mjtNum CompareModel(const mjModel* m1, const mjModel* m2,
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std::string& field) {
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mjtNum dif, maxdif = 0.0;
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// define symbols corresponding to number of columns
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// (needed in MJMODEL_POINTERS)
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MJMODEL_POINTERS_PREAMBLE(m1);
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// compare ints, exclude nbuffer because it hides the actual difference
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#define X(name) \
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if constexpr (std::string_view(#name) != "nbuffer") { \
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if (m1->name != m2->name) { \
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maxdif = std::abs((long)m1->name - (long)m2->name); \
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field = #name; \
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} \
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}
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MJMODEL_SIZES
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#undef X
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if (maxdif > 0) return maxdif;
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// compare arrays, apart from bvh-related ones (which includes flex_vert0), as
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// those are sensitive to numerical differences when meshes are perfectly
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// symmetric. Also skip flex fields derived from node local positions and
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// cell geometry that are not fully serialized to XML.
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#define X(type, name, nr, nc) \
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if (strncmp(#name, "bvh_", 4) && \
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strncmp(#name, "flex_vert", 9) && \
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strncmp(#name, "mesh_poly", 9) && \
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strcmp(#name, "flex_centered") && \
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strcmp(#name, "flex_size") && \
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strcmp(#name, "flexedge_length0") && \
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strcmp(#name, "flexedge_invweight0") && \
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strncmp(#name, "flex_node", 9)) { \
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for (int r = 0; r < m1->nr; r++) { \
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for (int c = 0; c < nc; c++) { \
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dif = Compare(m1->name[r * nc + c], m2->name[r * nc + c]); \
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if (dif > maxdif) { \
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maxdif = dif; \
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field = #name; \
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field += " row: " + std::to_string(r); \
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field += " col: " + std::to_string(c); \
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} \
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} \
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} \
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} // NOLINT
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MJMODEL_POINTERS
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#undef X
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// compare fields in mjOption
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#define X(type, name, n) \
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dif = Compare(m1->opt.name, m2->opt.name); \
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if (dif > maxdif) {maxdif = dif; field = #name;}
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#define XVEC(type, name, n) \
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for (int c=0; c < n; c++) { \
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dif = Compare(m1->opt.name[c], m2->opt.name[c]); \
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if (dif > maxdif) {maxdif = dif; field = #name;} }
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MJOPTION_FIELDS
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#undef XVEC
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#undef X
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// Return largest difference and field name
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return maxdif;
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}
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} // namespace mujoco
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