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Fix compilation of tests.

This commit is contained in:
sebcrozet 2020-04-05 18:33:03 +02:00
parent 50ade7e870
commit 691f58b622
4 changed files with 119 additions and 129 deletions
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3
src/base/norm.rs
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@ -1,3 +1,6 @@
#[cfg(all(feature = "alloc", not(feature = "std")))]
use alloc::vec::Vec;
use num::Zero; use num::Zero;
use std::ops::Neg; use std::ops::Neg;

2
tests/core/abomonation.rs
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@ -32,8 +32,6 @@ test_abomonation! {
} }
fn assert_encode_and_decode<T: Abomonation + PartialEq + Clone>(original_data: T) { fn assert_encode_and_decode<T: Abomonation + PartialEq + Clone>(original_data: T) {
use std::mem::drop;
// Hold on to a clone for later comparison // Hold on to a clone for later comparison
let data = original_data.clone(); let data = original_data.clone();

16
tests/core/matrix.rs
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@ -1,15 +1,12 @@
use num::{One, Zero}; use num::{One, Zero};
use std::cmp::Ordering; use std::cmp::Ordering;
use na::dimension::{U15, U8, U2, U4}; use na::dimension::{U15, U2, U4, U8};
use na::{ use na::{
self, DMatrix, DVector, Matrix2, Matrix2x3, Matrix2x4, Matrix3, Matrix3x2, Matrix3x4, Matrix4, self, DMatrix, DVector, Matrix2, Matrix2x3, Matrix2x4, Matrix3, Matrix3x2, Matrix3x4, Matrix4,
Matrix4x3, Matrix4x5, Matrix5, Matrix6, MatrixMN, RowVector3, RowVector4, RowVector5, Matrix4x3, Matrix4x5, Matrix5, Matrix6, MatrixMN, RowVector3, RowVector4, RowVector5, Vector1,
Vector1, Vector2, Vector3, Vector4, Vector5, Vector6, Vector2, Vector3, Vector4, Vector5, Vector6,
}; };
use typenum::{UInt, UTerm};
use serde_json::error::Category::Data;
use typenum::bit::{B0, B1};
#[test] #[test]
fn iter() { fn iter() {
@ -1025,7 +1022,9 @@ mod finite_dim_inner_space_tests {
* *
*/ */
#[cfg(feature = "arbitrary")] #[cfg(feature = "arbitrary")]
fn is_subspace_basis<T: FiniteDimInnerSpace<RealField = f64, ComplexField = f64> + Display>(vs: &[T]) -> bool { fn is_subspace_basis<T: FiniteDimInnerSpace<RealField = f64, ComplexField = f64> + Display>(
vs: &[T],
) -> bool {
for i in 0..vs.len() { for i in 0..vs.len() {
// Basis elements must be normalized. // Basis elements must be normalized.
if !relative_eq!(vs[i].norm(), 1.0, epsilon = 1.0e-7) { if !relative_eq!(vs[i].norm(), 1.0, epsilon = 1.0e-7) {
@ -1066,7 +1065,7 @@ fn partial_eq_different_types() {
let static_mat = Matrix2x4::new(1, 2, 3, 4, 5, 6, 7, 8); let static_mat = Matrix2x4::new(1, 2, 3, 4, 5, 6, 7, 8);
let mut typenum_static_mat = MatrixMN::<u8, typenum::U1024, U4>::zeros(); let mut typenum_static_mat = MatrixMN::<u8, typenum::U1024, U4>::zeros();
let mut slice = typenum_static_mat.slice_mut((0,0), (2, 4)); let mut slice = typenum_static_mat.slice_mut((0, 0), (2, 4));
slice += static_mat; slice += static_mat;
let fslice_of_dmat = dynamic_mat.fixed_slice::<U2, U2>(0, 0); let fslice_of_dmat = dynamic_mat.fixed_slice::<U2, U2>(0, 0);
@ -1107,5 +1106,4 @@ fn partial_eq_different_types() {
// TODO - implement those comparisons // TODO - implement those comparisons
// assert_ne!(static_mat, typenum_static_mat); // assert_ne!(static_mat, typenum_static_mat);
//assert_ne!(typenum_static_mat, static_mat); //assert_ne!(typenum_static_mat, static_mat);
} }

227
tests/geometry/quaternion.rs
View File

@ -1,5 +1,6 @@
#![cfg(feature = "arbitrary")] #![cfg(feature = "arbitrary")]
#![allow(non_snake_case)] #![allow(non_snake_case)]
#![cfg_attr(rustfmt, rustfmt_skip)]
use na::{Point3, Quaternion, Rotation3, Unit, UnitQuaternion, Vector3}; use na::{Point3, Quaternion, Rotation3, Unit, UnitQuaternion, Vector3};
@ -10,15 +11,15 @@ quickcheck!(
* *
*/ */
fn from_euler_angles(r: f64, p: f64, y: f64) -> bool { fn from_euler_angles(r: f64, p: f64, y: f64) -> bool {
let roll = UnitQuaternion::from_euler_angles(r, 0.0, 0.0); let roll = UnitQuaternion::from_euler_angles(r, 0.0, 0.0);
let pitch = UnitQuaternion::from_euler_angles(0.0, p, 0.0); let pitch = UnitQuaternion::from_euler_angles(0.0, p, 0.0);
let yaw = UnitQuaternion::from_euler_angles(0.0, 0.0, y); let yaw = UnitQuaternion::from_euler_angles(0.0, 0.0, y);
let rpy = UnitQuaternion::from_euler_angles(r, p, y); let rpy = UnitQuaternion::from_euler_angles(r, p, y);
let rroll = roll.to_rotation_matrix(); let rroll = roll.to_rotation_matrix();
let rpitch = pitch.to_rotation_matrix(); let rpitch = pitch.to_rotation_matrix();
let ryaw = yaw.to_rotation_matrix(); let ryaw = yaw.to_rotation_matrix();
relative_eq!(rroll[(0, 0)], 1.0, epsilon = 1.0e-7) && // rotation wrt. x axis. relative_eq!(rroll[(0, 0)], 1.0, epsilon = 1.0e-7) && // rotation wrt. x axis.
relative_eq!(rpitch[(1, 1)], 1.0, epsilon = 1.0e-7) && // rotation wrt. y axis. relative_eq!(rpitch[(1, 1)], 1.0, epsilon = 1.0e-7) && // rotation wrt. y axis.
@ -29,22 +30,24 @@ quickcheck!(
fn euler_angles(r: f64, p: f64, y: f64) -> bool { fn euler_angles(r: f64, p: f64, y: f64) -> bool {
let rpy = UnitQuaternion::from_euler_angles(r, p, y); let rpy = UnitQuaternion::from_euler_angles(r, p, y);
let (roll, pitch, yaw) = rpy.euler_angles(); let (roll, pitch, yaw) = rpy.euler_angles();
relative_eq!(UnitQuaternion::from_euler_angles(roll, pitch, yaw), rpy, epsilon = 1.0e-7) relative_eq!(
UnitQuaternion::from_euler_angles(roll, pitch, yaw),
rpy,
epsilon = 1.0e-7
)
} }
/* /*
* *
* From/to rotation matrix. * From/to rotation matrix.
* *
*/ */
fn unit_quaternion_rotation_conversion(q: UnitQuaternion<f64>) -> bool { fn unit_quaternion_rotation_conversion(q: UnitQuaternion<f64>) -> bool {
let r = q.to_rotation_matrix(); let r = q.to_rotation_matrix();
let qq = UnitQuaternion::from_rotation_matrix(&r); let qq = UnitQuaternion::from_rotation_matrix(&r);
let rr = qq.to_rotation_matrix(); let rr = qq.to_rotation_matrix();
relative_eq!(q, qq, epsilon = 1.0e-7) && relative_eq!(q, qq, epsilon = 1.0e-7) && relative_eq!(r, rr, epsilon = 1.0e-7)
relative_eq!(r, rr, epsilon = 1.0e-7)
} }
/* /*
@ -52,23 +55,27 @@ quickcheck!(
* Point/Vector transformation. * Point/Vector transformation.
* *
*/ */
fn unit_quaternion_transformation(q: UnitQuaternion<f64>, v: Vector3<f64>, p: Point3<f64>) -> bool {
fn unit_quaternion_transformation(
q: UnitQuaternion<f64>,
v: Vector3<f64>,
p: Point3<f64>
) -> bool
{
let r = q.to_rotation_matrix(); let r = q.to_rotation_matrix();
let rv = r * v; let rv = r * v;
let rp = r * p; let rp = r * p;
relative_eq!( q * v, rv, epsilon = 1.0e-7) && relative_eq!(q * v, rv, epsilon = 1.0e-7)
relative_eq!( q * &v, rv, epsilon = 1.0e-7) && && relative_eq!(q * &v, rv, epsilon = 1.0e-7)
relative_eq!(&q * v, rv, epsilon = 1.0e-7) && && relative_eq!(&q * v, rv, epsilon = 1.0e-7)
relative_eq!(&q * &v, rv, epsilon = 1.0e-7) && && relative_eq!(&q * &v, rv, epsilon = 1.0e-7)
&& relative_eq!(q * p, rp, epsilon = 1.0e-7)
relative_eq!( q * p, rp, epsilon = 1.0e-7) && && relative_eq!(q * &p, rp, epsilon = 1.0e-7)
relative_eq!( q * &p, rp, epsilon = 1.0e-7) && && relative_eq!(&q * p, rp, epsilon = 1.0e-7)
relative_eq!(&q * p, rp, epsilon = 1.0e-7) && && relative_eq!(&q * &p, rp, epsilon = 1.0e-7)
relative_eq!(&q * &p, rp, epsilon = 1.0e-7)
} }
/* /*
* *
* Inversion. * Inversion.
@ -76,15 +83,14 @@ quickcheck!(
*/ */
fn unit_quaternion_inv(q: UnitQuaternion<f64>) -> bool { fn unit_quaternion_inv(q: UnitQuaternion<f64>) -> bool {
let iq = q.inverse(); let iq = q.inverse();
relative_eq!(&iq * &q, UnitQuaternion::identity(), epsilon = 1.0e-7) && relative_eq!(&iq * &q, UnitQuaternion::identity(), epsilon = 1.0e-7)
relative_eq!( iq * &q, UnitQuaternion::identity(), epsilon = 1.0e-7) && && relative_eq!(iq * &q, UnitQuaternion::identity(), epsilon = 1.0e-7)
relative_eq!(&iq * q, UnitQuaternion::identity(), epsilon = 1.0e-7) && && relative_eq!(&iq * q, UnitQuaternion::identity(), epsilon = 1.0e-7)
relative_eq!( iq * q, UnitQuaternion::identity(), epsilon = 1.0e-7) && && relative_eq!(iq * q, UnitQuaternion::identity(), epsilon = 1.0e-7)
&& relative_eq!(&q * &iq, UnitQuaternion::identity(), epsilon = 1.0e-7)
relative_eq!(&q * &iq, UnitQuaternion::identity(), epsilon = 1.0e-7) && && relative_eq!(q * &iq, UnitQuaternion::identity(), epsilon = 1.0e-7)
relative_eq!( q * &iq, UnitQuaternion::identity(), epsilon = 1.0e-7) && && relative_eq!(&q * iq, UnitQuaternion::identity(), epsilon = 1.0e-7)
relative_eq!(&q * iq, UnitQuaternion::identity(), epsilon = 1.0e-7) && && relative_eq!(q * iq, UnitQuaternion::identity(), epsilon = 1.0e-7)
relative_eq!( q * iq, UnitQuaternion::identity(), epsilon = 1.0e-7)
} }
/* /*
@ -98,8 +104,8 @@ quickcheck!(
relative_eq!(q * v, r * v, epsilon = 1.0e-7) && relative_eq!(q * v, r * v, epsilon = 1.0e-7) &&
relative_eq!(q * p, r * p, epsilon = 1.0e-7) && relative_eq!(q * p, r * p, epsilon = 1.0e-7) &&
// Equivalence q = -q // Equivalence q = -q
relative_eq!((-q) * v, r * v, epsilon = 1.0e-7) && relative_eq!(UnitQuaternion::new_unchecked(-q.into_inner()) * v, r * v, epsilon = 1.0e-7) &&
relative_eq!((-q) * p, r * p, epsilon = 1.0e-7) relative_eq!(UnitQuaternion::new_unchecked(-q.into_inner()) * p, r * p, epsilon = 1.0e-7)
} }
/* /*
@ -108,7 +114,7 @@ quickcheck!(
* *
*/ */
fn unit_quaternion_double_covering(q: UnitQuaternion<f64>) -> bool { fn unit_quaternion_double_covering(q: UnitQuaternion<f64>) -> bool {
let mq = -q; let mq = UnitQuaternion::new_unchecked(-q.into_inner());
mq == q && mq.angle() == q.angle() && mq.axis() == q.axis() mq == q && mq.angle() == q.angle() && mq.axis() == q.axis()
} }
@ -116,28 +122,34 @@ quickcheck!(
// Test that all operators (incl. all combinations of references) work. // Test that all operators (incl. all combinations of references) work.
// See the top comment on `geometry/quaternion_ops.rs` for details on which operations are // See the top comment on `geometry/quaternion_ops.rs` for details on which operations are
// supported. // supported.
fn all_op_exist(q: Quaternion<f64>, uq: UnitQuaternion<f64>, fn all_op_exist(
v: Vector3<f64>, p: Point3<f64>, r: Rotation3<f64>, q: Quaternion<f64>,
s: f64) -> bool { uq: UnitQuaternion<f64>,
v: Vector3<f64>,
p: Point3<f64>,
r: Rotation3<f64>,
s: f64
) -> bool
{
let uv = Unit::new_normalize(v); let uv = Unit::new_normalize(v);
let qpq = q + q; let qpq = q + q;
let qmq = q - q; let qmq = q - q;
let qMq = q * q; let qMq = q * q;
let mq = -q; let mq = -q;
let qMs = q * s; let qMs = q * s;
let qDs = q / s; let qDs = q / s;
let sMq = s * q; let sMq = s * q;
let uqMuq = uq * uq; let uqMuq = uq * uq;
let uqMr = uq * r; let uqMr = uq * r;
let rMuq = r * uq; let rMuq = r * uq;
let uqDuq = uq / uq; let uqDuq = uq / uq;
let uqDr = uq / r; let uqDr = uq / r;
let rDuq = r / uq; let rDuq = r / uq;
let uqMp = uq * p; let uqMp = uq * p;
let uqMv = uq * v; let uqMv = uq * v;
let uqMuv = uq * uv; let uqMuv = uq * uv;
let mut qMs1 = q; let mut qMs1 = q;
@ -186,81 +198,60 @@ quickcheck!(
uqDr1 /= r; uqDr1 /= r;
uqDr2 /= &r; uqDr2 /= &r;
qMs1 == qMs && qMs1 == qMs
&& qMq1 == qMq
qMq1 == qMq && && qMq1 == qMq2
qMq1 == qMq2 && && qpq1 == qpq
&& qpq1 == qpq2
qpq1 == qpq && && qmq1 == qmq
qpq1 == qpq2 && && qmq1 == qmq2
&& uqMuq1 == uqMuq
qmq1 == qmq && && uqMuq1 == uqMuq2
qmq1 == qmq2 && && uqMr1 == uqMr
&& uqMr1 == uqMr2
uqMuq1 == uqMuq && && uqDuq1 == uqDuq
uqMuq1 == uqMuq2 && && uqDuq1 == uqDuq2
&& uqDr1 == uqDr
uqMr1 == uqMr && && uqDr1 == uqDr2
uqMr1 == uqMr2 && && qpq == &q + &q
&& qpq == q + &q
uqDuq1 == uqDuq && && qpq == &q + q
uqDuq1 == uqDuq2 && && qmq == &q - &q
&& qmq == q - &q
uqDr1 == uqDr && && qmq == &q - q
uqDr1 == uqDr2 && && qMq == &q * &q
&& qMq == q * &q
qpq == &q + &q && && qMq == &q * q
qpq == q + &q && && mq == -&q
qpq == &q + q && && qMs == &q * s
&& qDs == &q / s
qmq == &q - &q && && sMq == s * &q
qmq == q - &q && && uqMuq == &uq * &uq
qmq == &q - q && && uqMuq == uq * &uq
&& uqMuq == &uq * uq
qMq == &q * &q && && uqMr == &uq * &r
qMq == q * &q && && uqMr == uq * &r
qMq == &q * q && && uqMr == &uq * r
&& rMuq == &r * &uq
mq == -&q && && rMuq == r * &uq
&& rMuq == &r * uq
qMs == &q * s && && uqDuq == &uq / &uq
qDs == &q / s && && uqDuq == uq / &uq
sMq == s * &q && && uqDuq == &uq / uq
&& uqDr == &uq / &r
uqMuq == &uq * &uq && && uqDr == uq / &r
uqMuq == uq * &uq && && uqDr == &uq / r
uqMuq == &uq * uq && && rDuq == &r / &uq
&& rDuq == r / &uq
uqMr == &uq * &r && && rDuq == &r / uq
uqMr == uq * &r && && uqMp == &uq * &p
uqMr == &uq * r && && uqMp == uq * &p
&& uqMp == &uq * p
rMuq == &r * &uq && && uqMv == &uq * &v
rMuq == r * &uq && && uqMv == uq * &v
rMuq == &r * uq && && uqMv == &uq * v
&& uqMuv == &uq * &uv
uqDuq == &uq / &uq && && uqMuv == uq * &uv
uqDuq == uq / &uq && && uqMuv == &uq * uv
uqDuq == &uq / uq &&
uqDr == &uq / &r &&
uqDr == uq / &r &&
uqDr == &uq / r &&
rDuq == &r / &uq &&
rDuq == r / &uq &&
rDuq == &r / uq &&
uqMp == &uq * &p &&
uqMp == uq * &p &&
uqMp == &uq * p &&
uqMv == &uq * &v &&
uqMv == uq * &v &&
uqMv == &uq * v &&
uqMuv == &uq * &uv &&
uqMuv == uq * &uv &&
uqMuv == &uq * uv
} }
); );