Fix compilation of tests.
This commit is contained in:
sebcrozet
parent
50ade7e870
commit
691f58b622
@ -1,3 +1,6 @@
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#[cfg(all(feature = "alloc", not(feature = "std")))]
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use alloc::vec::Vec;
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use num::Zero;
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use std::ops::Neg;
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@ -32,8 +32,6 @@ test_abomonation! {
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}
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fn assert_encode_and_decode<T: Abomonation + PartialEq + Clone>(original_data: T) {
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use std::mem::drop;
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// Hold on to a clone for later comparison
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let data = original_data.clone();
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@ -1,15 +1,12 @@
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use num::{One, Zero};
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use std::cmp::Ordering;
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use na::dimension::{U15, U8, U2, U4};
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use na::dimension::{U15, U2, U4, U8};
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use na::{
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self, DMatrix, DVector, Matrix2, Matrix2x3, Matrix2x4, Matrix3, Matrix3x2, Matrix3x4, Matrix4,
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Matrix4x3, Matrix4x5, Matrix5, Matrix6, MatrixMN, RowVector3, RowVector4, RowVector5,
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Vector1, Vector2, Vector3, Vector4, Vector5, Vector6,
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Matrix4x3, Matrix4x5, Matrix5, Matrix6, MatrixMN, RowVector3, RowVector4, RowVector5, Vector1,
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Vector2, Vector3, Vector4, Vector5, Vector6,
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};
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use typenum::{UInt, UTerm};
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use serde_json::error::Category::Data;
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use typenum::bit::{B0, B1};
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#[test]
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fn iter() {
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@ -1025,7 +1022,9 @@ mod finite_dim_inner_space_tests {
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*
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*/
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#[cfg(feature = "arbitrary")]
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fn is_subspace_basis<T: FiniteDimInnerSpace<RealField = f64, ComplexField = f64> + Display>(vs: &[T]) -> bool {
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fn is_subspace_basis<T: FiniteDimInnerSpace<RealField = f64, ComplexField = f64> + Display>(
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vs: &[T],
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) -> bool {
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for i in 0..vs.len() {
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// Basis elements must be normalized.
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if !relative_eq!(vs[i].norm(), 1.0, epsilon = 1.0e-7) {
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@ -1066,7 +1065,7 @@ fn partial_eq_different_types() {
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let static_mat = Matrix2x4::new(1, 2, 3, 4, 5, 6, 7, 8);
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let mut typenum_static_mat = MatrixMN::<u8, typenum::U1024, U4>::zeros();
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let mut slice = typenum_static_mat.slice_mut((0,0), (2, 4));
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let mut slice = typenum_static_mat.slice_mut((0, 0), (2, 4));
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slice += static_mat;
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let fslice_of_dmat = dynamic_mat.fixed_slice::<U2, U2>(0, 0);
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@ -1107,5 +1106,4 @@ fn partial_eq_different_types() {
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// TODO - implement those comparisons
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// assert_ne!(static_mat, typenum_static_mat);
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//assert_ne!(typenum_static_mat, static_mat);
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}
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@ -1,5 +1,6 @@
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#![cfg(feature = "arbitrary")]
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#![allow(non_snake_case)]
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#![cfg_attr(rustfmt, rustfmt_skip)]
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use na::{Point3, Quaternion, Rotation3, Unit, UnitQuaternion, Vector3};
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@ -10,15 +11,15 @@ quickcheck!(
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*
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*/
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fn from_euler_angles(r: f64, p: f64, y: f64) -> bool {
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let roll = UnitQuaternion::from_euler_angles(r, 0.0, 0.0);
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let roll = UnitQuaternion::from_euler_angles(r, 0.0, 0.0);
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let pitch = UnitQuaternion::from_euler_angles(0.0, p, 0.0);
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let yaw = UnitQuaternion::from_euler_angles(0.0, 0.0, y);
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let yaw = UnitQuaternion::from_euler_angles(0.0, 0.0, y);
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let rpy = UnitQuaternion::from_euler_angles(r, p, y);
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let rroll = roll.to_rotation_matrix();
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let rroll = roll.to_rotation_matrix();
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let rpitch = pitch.to_rotation_matrix();
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let ryaw = yaw.to_rotation_matrix();
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let ryaw = yaw.to_rotation_matrix();
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relative_eq!(rroll[(0, 0)], 1.0, epsilon = 1.0e-7) && // rotation wrt. x axis.
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relative_eq!(rpitch[(1, 1)], 1.0, epsilon = 1.0e-7) && // rotation wrt. y axis.
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@ -29,22 +30,24 @@ quickcheck!(
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fn euler_angles(r: f64, p: f64, y: f64) -> bool {
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let rpy = UnitQuaternion::from_euler_angles(r, p, y);
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let (roll, pitch, yaw) = rpy.euler_angles();
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relative_eq!(UnitQuaternion::from_euler_angles(roll, pitch, yaw), rpy, epsilon = 1.0e-7)
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relative_eq!(
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UnitQuaternion::from_euler_angles(roll, pitch, yaw),
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rpy,
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epsilon = 1.0e-7
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)
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}
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/*
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*
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* From/to rotation matrix.
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*
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*/
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fn unit_quaternion_rotation_conversion(q: UnitQuaternion<f64>) -> bool {
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let r = q.to_rotation_matrix();
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let r = q.to_rotation_matrix();
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let qq = UnitQuaternion::from_rotation_matrix(&r);
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let rr = qq.to_rotation_matrix();
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relative_eq!(q, qq, epsilon = 1.0e-7) &&
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relative_eq!(r, rr, epsilon = 1.0e-7)
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relative_eq!(q, qq, epsilon = 1.0e-7) && relative_eq!(r, rr, epsilon = 1.0e-7)
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}
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/*
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@ -52,23 +55,27 @@ quickcheck!(
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* Point/Vector transformation.
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*
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*/
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fn unit_quaternion_transformation(q: UnitQuaternion<f64>, v: Vector3<f64>, p: Point3<f64>) -> bool {
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fn unit_quaternion_transformation(
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q: UnitQuaternion<f64>,
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v: Vector3<f64>,
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p: Point3<f64>
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) -> bool
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{
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let r = q.to_rotation_matrix();
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let rv = r * v;
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let rp = r * p;
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relative_eq!( q * v, rv, epsilon = 1.0e-7) &&
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relative_eq!( q * &v, rv, epsilon = 1.0e-7) &&
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relative_eq!(&q * v, rv, epsilon = 1.0e-7) &&
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relative_eq!(&q * &v, rv, epsilon = 1.0e-7) &&
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relative_eq!( q * p, rp, epsilon = 1.0e-7) &&
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relative_eq!( q * &p, rp, epsilon = 1.0e-7) &&
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relative_eq!(&q * p, rp, epsilon = 1.0e-7) &&
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relative_eq!(&q * &p, rp, epsilon = 1.0e-7)
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relative_eq!(q * v, rv, epsilon = 1.0e-7)
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&& relative_eq!(q * &v, rv, epsilon = 1.0e-7)
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&& relative_eq!(&q * v, rv, epsilon = 1.0e-7)
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&& relative_eq!(&q * &v, rv, epsilon = 1.0e-7)
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&& relative_eq!(q * p, rp, epsilon = 1.0e-7)
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&& relative_eq!(q * &p, rp, epsilon = 1.0e-7)
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&& relative_eq!(&q * p, rp, epsilon = 1.0e-7)
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&& relative_eq!(&q * &p, rp, epsilon = 1.0e-7)
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}
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/*
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*
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* Inversion.
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@ -76,15 +83,14 @@ quickcheck!(
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*/
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fn unit_quaternion_inv(q: UnitQuaternion<f64>) -> bool {
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let iq = q.inverse();
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relative_eq!(&iq * &q, UnitQuaternion::identity(), epsilon = 1.0e-7) &&
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relative_eq!( iq * &q, UnitQuaternion::identity(), epsilon = 1.0e-7) &&
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relative_eq!(&iq * q, UnitQuaternion::identity(), epsilon = 1.0e-7) &&
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relative_eq!( iq * q, UnitQuaternion::identity(), epsilon = 1.0e-7) &&
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relative_eq!(&q * &iq, UnitQuaternion::identity(), epsilon = 1.0e-7) &&
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relative_eq!( q * &iq, UnitQuaternion::identity(), epsilon = 1.0e-7) &&
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relative_eq!(&q * iq, UnitQuaternion::identity(), epsilon = 1.0e-7) &&
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relative_eq!( q * iq, UnitQuaternion::identity(), epsilon = 1.0e-7)
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relative_eq!(&iq * &q, UnitQuaternion::identity(), epsilon = 1.0e-7)
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&& relative_eq!(iq * &q, UnitQuaternion::identity(), epsilon = 1.0e-7)
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&& relative_eq!(&iq * q, UnitQuaternion::identity(), epsilon = 1.0e-7)
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&& relative_eq!(iq * q, UnitQuaternion::identity(), epsilon = 1.0e-7)
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&& relative_eq!(&q * &iq, UnitQuaternion::identity(), epsilon = 1.0e-7)
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&& relative_eq!(q * &iq, UnitQuaternion::identity(), epsilon = 1.0e-7)
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&& relative_eq!(&q * iq, UnitQuaternion::identity(), epsilon = 1.0e-7)
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&& relative_eq!(q * iq, UnitQuaternion::identity(), epsilon = 1.0e-7)
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}
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/*
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@ -98,8 +104,8 @@ quickcheck!(
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relative_eq!(q * v, r * v, epsilon = 1.0e-7) &&
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relative_eq!(q * p, r * p, epsilon = 1.0e-7) &&
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// Equivalence q = -q
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relative_eq!((-q) * v, r * v, epsilon = 1.0e-7) &&
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relative_eq!((-q) * p, r * p, epsilon = 1.0e-7)
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relative_eq!(UnitQuaternion::new_unchecked(-q.into_inner()) * v, r * v, epsilon = 1.0e-7) &&
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relative_eq!(UnitQuaternion::new_unchecked(-q.into_inner()) * p, r * p, epsilon = 1.0e-7)
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}
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/*
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@ -108,7 +114,7 @@ quickcheck!(
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*
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*/
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fn unit_quaternion_double_covering(q: UnitQuaternion<f64>) -> bool {
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let mq = -q;
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let mq = UnitQuaternion::new_unchecked(-q.into_inner());
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mq == q && mq.angle() == q.angle() && mq.axis() == q.axis()
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}
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@ -116,28 +122,34 @@ quickcheck!(
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// Test that all operators (incl. all combinations of references) work.
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// See the top comment on `geometry/quaternion_ops.rs` for details on which operations are
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// supported.
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fn all_op_exist(q: Quaternion<f64>, uq: UnitQuaternion<f64>,
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v: Vector3<f64>, p: Point3<f64>, r: Rotation3<f64>,
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s: f64) -> bool {
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fn all_op_exist(
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q: Quaternion<f64>,
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uq: UnitQuaternion<f64>,
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v: Vector3<f64>,
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p: Point3<f64>,
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r: Rotation3<f64>,
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s: f64
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) -> bool
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{
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let uv = Unit::new_normalize(v);
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let qpq = q + q;
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let qmq = q - q;
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let qMq = q * q;
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let mq = -q;
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let mq = -q;
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let qMs = q * s;
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let qDs = q / s;
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let sMq = s * q;
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let uqMuq = uq * uq;
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let uqMr = uq * r;
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let rMuq = r * uq;
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let uqMr = uq * r;
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let rMuq = r * uq;
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let uqDuq = uq / uq;
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let uqDr = uq / r;
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let rDuq = r / uq;
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let uqDr = uq / r;
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let rDuq = r / uq;
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let uqMp = uq * p;
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let uqMv = uq * v;
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let uqMp = uq * p;
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let uqMv = uq * v;
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let uqMuv = uq * uv;
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let mut qMs1 = q;
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@ -186,81 +198,60 @@ quickcheck!(
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uqDr1 /= r;
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uqDr2 /= &r;
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qMs1 == qMs &&
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qMq1 == qMq &&
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qMq1 == qMq2 &&
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qpq1 == qpq &&
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qpq1 == qpq2 &&
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qmq1 == qmq &&
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qmq1 == qmq2 &&
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uqMuq1 == uqMuq &&
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uqMuq1 == uqMuq2 &&
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uqMr1 == uqMr &&
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uqMr1 == uqMr2 &&
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uqDuq1 == uqDuq &&
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uqDuq1 == uqDuq2 &&
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uqDr1 == uqDr &&
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uqDr1 == uqDr2 &&
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qpq == &q + &q &&
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qpq == q + &q &&
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qpq == &q + q &&
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qmq == &q - &q &&
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qmq == q - &q &&
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qmq == &q - q &&
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qMq == &q * &q &&
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qMq == q * &q &&
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qMq == &q * q &&
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mq == -&q &&
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qMs == &q * s &&
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qDs == &q / s &&
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sMq == s * &q &&
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uqMuq == &uq * &uq &&
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uqMuq == uq * &uq &&
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uqMuq == &uq * uq &&
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uqMr == &uq * &r &&
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uqMr == uq * &r &&
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uqMr == &uq * r &&
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rMuq == &r * &uq &&
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rMuq == r * &uq &&
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rMuq == &r * uq &&
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uqDuq == &uq / &uq &&
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uqDuq == uq / &uq &&
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uqDuq == &uq / uq &&
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uqDr == &uq / &r &&
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uqDr == uq / &r &&
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uqDr == &uq / r &&
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rDuq == &r / &uq &&
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rDuq == r / &uq &&
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rDuq == &r / uq &&
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uqMp == &uq * &p &&
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uqMp == uq * &p &&
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uqMp == &uq * p &&
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uqMv == &uq * &v &&
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uqMv == uq * &v &&
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uqMv == &uq * v &&
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uqMuv == &uq * &uv &&
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uqMuv == uq * &uv &&
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uqMuv == &uq * uv
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qMs1 == qMs
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&& qMq1 == qMq
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&& qMq1 == qMq2
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&& qpq1 == qpq
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&& qpq1 == qpq2
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&& qmq1 == qmq
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&& qmq1 == qmq2
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&& uqMuq1 == uqMuq
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&& uqMuq1 == uqMuq2
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&& uqMr1 == uqMr
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&& uqMr1 == uqMr2
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&& uqDuq1 == uqDuq
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&& uqDuq1 == uqDuq2
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&& uqDr1 == uqDr
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&& uqDr1 == uqDr2
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&& qpq == &q + &q
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&& qpq == q + &q
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&& qpq == &q + q
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&& qmq == &q - &q
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&& qmq == q - &q
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&& qmq == &q - q
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&& qMq == &q * &q
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&& qMq == q * &q
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&& qMq == &q * q
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&& mq == -&q
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&& qMs == &q * s
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&& qDs == &q / s
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&& sMq == s * &q
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&& uqMuq == &uq * &uq
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&& uqMuq == uq * &uq
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&& uqMuq == &uq * uq
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&& uqMr == &uq * &r
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&& uqMr == uq * &r
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&& uqMr == &uq * r
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&& rMuq == &r * &uq
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&& rMuq == r * &uq
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&& rMuq == &r * uq
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&& uqDuq == &uq / &uq
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&& uqDuq == uq / &uq
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&& uqDuq == &uq / uq
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&& uqDr == &uq / &r
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&& uqDr == uq / &r
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&& uqDr == &uq / r
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&& rDuq == &r / &uq
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&& rDuq == r / &uq
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&& rDuq == &r / uq
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&& uqMp == &uq * &p
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&& uqMp == uq * &p
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&& uqMp == &uq * p
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&& uqMv == &uq * &v
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&& uqMv == uq * &v
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&& uqMv == &uq * v
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&& uqMuv == &uq * &uv
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&& uqMuv == uq * &uv
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&& uqMuv == &uq * uv
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}
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);
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