M-Labs
/
nalgebra
3
0
Fork 0
Code Issues Pull Requests Packages Projects Releases Wiki Activity

Merge pull request #837 from dimforge/proptest 

Replace quickcheck by proptest
This commit is contained in:
Sébastien Crozet 2021-03-01 14:13:28 +01:00 committed by GitHub
parent fccc42601d 3270e8e4a3
commit b97a3d0ab2
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
67 changed files with 1661 additions and 1597 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

128
.circleci/config.yml
View File

@ -1,128 +0,0 @@
version: 2.1
executors:
rust-nightly-executor:
docker:
- image: rustlang/rust:nightly
rust-executor:
docker:
- image: rust:latest
jobs:
check-fmt:
executor: rust-executor
steps:
- checkout
- run:
name: install rustfmt
command: rustup component add rustfmt
- run:
name: check formatting
command: cargo fmt -- --check
clippy:
executor: rust-executor
steps:
- checkout
- run:
name: install clippy
command: rustup component add clippy
- run:
name: clippy
command: cargo clippy
build-native:
executor: rust-executor
steps:
- checkout
- run: apt-get update
- run: apt-get install -y cmake gfortran libblas-dev liblapack-dev
- run:
name: build --no-default-feature
command: cargo build --no-default-features;
- run:
name: build (default features)
command: cargo build;
- run:
name: build --all-features
command: cargo build --all-features
- run:
name: build nalgebra-glm
command: cargo build -p nalgebra-glm --all-features
- run:
name: build nalgebra-lapack
command: cd nalgebra-lapack; cargo build
test-native:
executor: rust-executor
steps:
- checkout
- run:
name: test
command: cargo test --features arbitrary --features serde-serialize --features abomonation-serialize --features sparse --features debug --features io --features compare --features libm --features proptest-support --features slow-tests
- run:
name: test nalgebra-glm
command: cargo test -p nalgebra-glm --features arbitrary --features serde-serialize --features abomonation-serialize --features sparse --features debug --features io --features compare --features libm --features slow-tests
- run:
name: test nalgebra-sparse
# Manifest-path is necessary because cargo otherwise won't correctly forward features
# We increase number of proptest cases to hopefully catch more potential bugs
command: PROPTEST_CASES=10000 cargo test --manifest-path=nalgebra-sparse/Cargo.toml --features compare,proptest-support
- run:
name: test nalgebra-sparse (slow tests)
# Unfortunately, the "slow-tests" take so much time that we need to run them with --release
command: PROPTEST_CASES=10000 cargo test --release --manifest-path=nalgebra-sparse/Cargo.toml --features compare,proptest-support,slow-tests slow
build-wasm:
executor: rust-executor
steps:
- checkout
- run:
name: install cargo-web
command: cargo install -f cargo-web;
- run:
name: build --all-features
command: cargo web build --verbose --target wasm32-unknown-unknown;
- run:
name: build nalgebra-glm
command: cargo build -p nalgebra-glm --all-features
build-no-std:
executor: rust-nightly-executor
steps:
- checkout
- run:
name: install xargo
command: cp .circleci/Xargo.toml .; rustup component add rust-src; cargo install -f xargo;
- run:
name: build
command: xargo build --verbose --no-default-features --target=x86_64-unknown-linux-gnu;
- run:
name: build --features alloc
command: xargo build --verbose --no-default-features --features alloc --target=x86_64-unknown-linux-gnu;
build-nightly:
executor: rust-nightly-executor
steps:
- checkout
- run:
name: build --all-features
command: cargo build --all-features
workflows:
version: 2
build:
jobs:
- check-fmt
- clippy
- build-native:
requires:
- check-fmt
- build-wasm:
requires:
- check-fmt
- build-no-std:
requires:
- check-fmt
- build-nightly:
requires:
- check-fmt
- test-native:
requires:
- build-native

0
.circleci/Xargo.toml → .github/Xargo.toml vendored
View File

96
.github/workflows/nalgebra-ci-build.yml vendored Normal file
View File

@ -0,0 +1,96 @@
name: nalgebra CI build
on:
push:
branches: [ dev, master ]
pull_request:
branches: [ dev, master ]
env:
CARGO_TERM_COLOR: always
jobs:
check-fmt:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v2
- name: Check formatting
run: cargo fmt -- --check
clippy:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v2
- name: Install clippy
run: rustup component add clippy
- name: Run clippy
run: cargo clippy
build-nalgebra:
runs-on: ubuntu-latest
# env:
# RUSTFLAGS: -D warnings
steps:
- uses: actions/checkout@v2
- name: Build --no-default-feature
run: cargo build --no-default-features;
- name: Build (default features)
run: cargo build;
- name: Build --all-features
run: cargo build --all-features;
- name: Build nalgebra-glm
run: cargo build -p nalgebra-glm --all-features;
- name: Build nalgebra-lapack
run: cd nalgebra-lapack; cargo build;
- name: Build nalgebra-sparse
run: cd nalgebra-sparse; cargo build;
test-nalgebra:
runs-on: ubuntu-latest
# env:
# RUSTFLAGS: -D warnings
steps:
- uses: actions/checkout@v2
- name: test
run: cargo test --features arbitrary --features serde-serialize,abomonation-serialize,sparse,debug,io,compare,libm,proptest-support,slow-tests;
test-nalgebra-glm:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v2
- name: test nalgebra-glm
run: cargo test -p nalgebra-glm --features arbitrary,serde-serialize,abomonation-serialize,sparse,debug,io,compare,libm,proptest-support,slow-tests;
test-nalgebra-sparse:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v2
- name: test nalgebra-sparse
# Manifest-path is necessary because cargo otherwise won't correctly forward features
# We increase number of proptest cases to hopefully catch more potential bugs
run: PROPTEST_CASES=10000 cargo test --manifest-path=nalgebra-sparse/Cargo.toml --features compare,proptest-support
- name: test nalgebra-sparse (slow tests)
# Unfortunately, the "slow-tests" take so much time that we need to run them with --release
run: PROPTEST_CASES=10000 cargo test --release --manifest-path=nalgebra-sparse/Cargo.toml --features compare,proptest-support,slow-tests slow
build-wasm:
runs-on: ubuntu-latest
# env:
# RUSTFLAGS: -D warnings
steps:
- uses: actions/checkout@v2
- run: rustup target add wasm32-unknown-unknown
- name: build nalgebra
run: cargo build --verbose --target wasm32-unknown-unknown;
- name: build nalgebra-glm
run: cargo build -p nalgebra-glm --verbose --target wasm32-unknown-unknown;
build-no-std:
runs-on: ubuntu-latest
steps:
- uses: actions/checkout@v2
- name: Install latest nightly
uses: actions-rs/toolchain@v1
with:
toolchain: nightly
override: true
components: rustfmt
- name: install xargo
run: cp .github/Xargo.toml .; rustup component add rust-src; cargo install -f xargo;
- name: build
run: xargo build --verbose --no-default-features --target=x86_64-unknown-linux-gnu;
- name: build --feature alloc
run: xargo build --verbose --no-default-features --features alloc --target=x86_64-unknown-linux-gnu;

1
.gitignore vendored
View File

@ -10,3 +10,4 @@ Cargo.lock
site/ site/
.vscode/ .vscode/
.idea/ .idea/
proptest-regressions

22
Cargo.toml
View File

@ -23,8 +23,7 @@ path = "src/lib.rs"
[features] [features]
default = [ "std" ] default = [ "std" ]
std = [ "matrixmultiply", "rand/std", "rand_distr", "simba/std" ] std = [ "matrixmultiply", "rand/std", "rand/std_rng", "rand_distr", "simba/std" ]
stdweb = [ "rand/stdweb" ]
arbitrary = [ "quickcheck" ] arbitrary = [ "quickcheck" ]
serde-serialize = [ "serde", "num-complex/serde" ] serde-serialize = [ "serde", "num-complex/serde" ]
abomonation-serialize = [ "abomonation" ] abomonation-serialize = [ "abomonation" ]
@ -44,29 +43,30 @@ slow-tests = []
[dependencies] [dependencies]
typenum = "1.12" typenum = "1.12"
generic-array = "0.14" generic-array = "0.14"
rand = { version = "0.7", default-features = false } rand = { version = "0.8", default-features = false }
getrandom = { version = "0.2", default-features = false, features = [ "js" ] } # For wasm
num-traits = { version = "0.2", default-features = false } num-traits = { version = "0.2", default-features = false }
num-complex = { version = "0.3", default-features = false } num-complex = { version = "0.3", default-features = false }
num-rational = { version = "0.3", default-features = false } num-rational = { version = "0.3", default-features = false }
approx = { version = "0.4", default-features = false } approx = { version = "0.4", default-features = false }
simba = { version = "0.3", default-features = false } simba = { version = "0.4", default-features = false }
alga = { version = "0.9", default-features = false, optional = true } alga = { version = "0.9", default-features = false, optional = true }
rand_distr = { version = "0.3", optional = true } rand_distr = { version = "0.4", default-features = false, optional = true }
matrixmultiply = { version = "0.2", optional = true } matrixmultiply = { version = "0.3", optional = true }
serde = { version = "1.0", default-features = false, features = [ "derive" ], optional = true } serde = { version = "1.0", default-features = false, features = [ "derive" ], optional = true }
abomonation = { version = "0.7", optional = true } abomonation = { version = "0.7", optional = true }
mint = { version = "0.5", optional = true } mint = { version = "0.5", optional = true }
quickcheck = { version = "0.9", optional = true } quickcheck = { version = "1", optional = true }
pest = { version = "2", optional = true } pest = { version = "2", optional = true }
pest_derive = { version = "2", optional = true } pest_derive = { version = "2", optional = true }
bytemuck = { version = "1.5", optional = true } bytemuck = { version = "1.5", optional = true }
matrixcompare-core = { version = "0.1", optional = true } matrixcompare-core = { version = "0.1", optional = true }
proptest = { version = "0.10", optional = true, default-features = false, features = ["std"] } proptest = { version = "1", optional = true, default-features = false, features = ["std"] }
[dev-dependencies] [dev-dependencies]
serde_json = "1.0" serde_json = "1.0"
rand_xorshift = "0.2" rand_xorshift = "0.3"
rand_isaac = "0.2" rand_isaac = "0.3"
### Uncomment this line before running benchmarks. ### Uncomment this line before running benchmarks.
### We can't just let this uncommented because that would break ### We can't just let this uncommented because that would break
### compilation for #[no-std] because of the terrible Cargo bug ### compilation for #[no-std] because of the terrible Cargo bug
@ -75,7 +75,7 @@ rand_isaac = "0.2"
# For matrix comparison macro # For matrix comparison macro
matrixcompare = "0.2.0" matrixcompare = "0.2.0"
itertools = "0.9" itertools = "0.10"
[workspace] [workspace]
members = [ "nalgebra-lapack", "nalgebra-glm", "nalgebra-sparse" ] members = [ "nalgebra-lapack", "nalgebra-glm", "nalgebra-sparse" ]

3
nalgebra-glm/Cargo.toml
View File

@ -19,7 +19,6 @@ maintenance = { status = "actively-developed" }
[features] [features]
default = [ "std" ] default = [ "std" ]
std = [ "nalgebra/std", "simba/std" ] std = [ "nalgebra/std", "simba/std" ]
stdweb = [ "nalgebra/stdweb" ]
arbitrary = [ "nalgebra/arbitrary" ] arbitrary = [ "nalgebra/arbitrary" ]
serde-serialize = [ "nalgebra/serde-serialize" ] serde-serialize = [ "nalgebra/serde-serialize" ]
abomonation-serialize = [ "nalgebra/abomonation-serialize" ] abomonation-serialize = [ "nalgebra/abomonation-serialize" ]
@ -27,5 +26,5 @@ abomonation-serialize = [ "nalgebra/abomonation-serialize" ]
[dependencies] [dependencies]
num-traits = { version = "0.2", default-features = false } num-traits = { version = "0.2", default-features = false }
approx = { version = "0.4", default-features = false } approx = { version = "0.4", default-features = false }
simba = { version = "0.3", default-features = false } simba = { version = "0.4", default-features = false }
nalgebra = { path = "..", version = "0.24", default-features = false } nalgebra = { path = "..", version = "0.24", default-features = false }

19
nalgebra-lapack/Cargo.toml
View File

@ -18,9 +18,11 @@ maintenance = { status = "actively-developed" }
[features] [features]
serde-serialize = [ "serde", "serde_derive" ] serde-serialize = [ "serde", "serde_derive" ]
proptest-support = [ "nalgebra/proptest-support" ]
arbitrary = [ "nalgebra/arbitrary" ]
# For BLAS/LAPACK # For BLAS/LAPACK
default = ["openblas"] default = ["netlib"]
openblas = ["lapack-src/openblas"] openblas = ["lapack-src/openblas"]
netlib = ["lapack-src/netlib"] netlib = ["lapack-src/netlib"]
accelerate = ["lapack-src/accelerate"] accelerate = ["lapack-src/accelerate"]
@ -29,16 +31,17 @@ intel-mkl = ["lapack-src/intel-mkl"]
[dependencies] [dependencies]
nalgebra = { version = "0.24", path = ".." } nalgebra = { version = "0.24", path = ".." }
num-traits = "0.2" num-traits = "0.2"
num-complex = { version = "0.2", default-features = false } num-complex = { version = "0.3", default-features = false }
simba = "0.2" simba = "0.4"
serde = { version = "1.0", optional = true } serde = { version = "1.0", optional = true }
serde_derive = { version = "1.0", optional = true } serde_derive = { version = "1.0", optional = true }
lapack = { version = "0.16", default-features = false } lapack = { version = "0.17", default-features = false }
lapack-src = { version = "0.5", default-features = false } lapack-src = { version = "0.6", default-features = false }
# clippy = "*" # clippy = "*"
[dev-dependencies] [dev-dependencies]
nalgebra = { version = "0.24", features = [ "arbitrary" ], path = ".." } nalgebra = { version = "0.24", features = [ "arbitrary" ], path = ".." }
quickcheck = "0.9" proptest = { version = "1", default-features = false, features = ["std"] }
approx = "0.3" quickcheck = "1"
rand = "0.7" approx = "0.4"
rand = "0.8"

10
nalgebra-lapack/tests/lib.rs
View File

@ -1,8 +1,14 @@
#[macro_use] #[macro_use]
extern crate approx; extern crate approx;
#[cfg(not(feature = "proptest-support"))]
compile_error!("Tests must be run with `proptest-support`");
extern crate nalgebra as na; extern crate nalgebra as na;
extern crate nalgebra_lapack as nl; extern crate nalgebra_lapack as nl;
#[macro_use]
extern crate quickcheck; extern crate lapack;
extern crate lapack_src;
mod linalg; mod linalg;
#[path = "../../tests/proptest/mod.rs"]
mod proptest;

115
nalgebra-lapack/tests/linalg/cholesky.rs
View File

@ -1,101 +1,90 @@
use std::cmp; use std::cmp;
use na::{DMatrix, DVector, Matrix3, Matrix4, Matrix4x3, Vector4}; use na::{DMatrix, DVector, Matrix4x3, Vector4};
use nl::Cholesky; use nl::Cholesky;
quickcheck! { use crate::proptest::*;
fn cholesky(m: DMatrix<f64>) -> bool { use proptest::{prop_assert, proptest};
if m.len() != 0 {
let m = &m * m.transpose();
if let Some(chol) = Cholesky::new(m.clone()) {
let l = chol.unpack();
let reconstructed_m = &l * l.transpose();
return relative_eq!(reconstructed_m, m, epsilon = 1.0e-7) proptest! {
} #[test]
fn cholesky(m in dmatrix()) {
let m = &m * m.transpose();
if let Some(chol) = Cholesky::new(m.clone()) {
let l = chol.unpack();
let reconstructed_m = &l * l.transpose();
prop_assert!(relative_eq!(reconstructed_m, m, epsilon = 1.0e-7));
} }
return true
} }
fn cholesky_static(m: Matrix3<f64>) -> bool { #[test]
fn cholesky_static(m in matrix3()) {
let m = &m * m.transpose(); let m = &m * m.transpose();
if let Some(chol) = Cholesky::new(m) { if let Some(chol) = Cholesky::new(m) {
let l = chol.unpack(); let l = chol.unpack();
let reconstructed_m = &l * l.transpose(); let reconstructed_m = &l * l.transpose();
relative_eq!(reconstructed_m, m, epsilon = 1.0e-7) prop_assert!(relative_eq!(reconstructed_m, m, epsilon = 1.0e-7))
}
else {
false
} }
} }
fn cholesky_solve(n: usize, nb: usize) -> bool { #[test]
if n != 0 { fn cholesky_solve(n in PROPTEST_MATRIX_DIM, nb in PROPTEST_MATRIX_DIM) {
let n = cmp::min(n, 15); // To avoid slowing down the test too much. let n = cmp::min(n, 15); // To avoid slowing down the test too much.
let nb = cmp::min(nb, 15); // To avoid slowing down the test too much. let nb = cmp::min(nb, 15); // To avoid slowing down the test too much.
let m = DMatrix::<f64>::new_random(n, n); let m = DMatrix::<f64>::new_random(n, n);
let m = &m * m.transpose(); let m = &m * m.transpose();
if let Some(chol) = Cholesky::new(m.clone()) { if let Some(chol) = Cholesky::new(m.clone()) {
let b1 = DVector::new_random(n); let b1 = DVector::new_random(n);
let b2 = DMatrix::new_random(n, nb); let b2 = DMatrix::new_random(n, nb);
let sol1 = chol.solve(&b1).unwrap(); let sol1 = chol.solve(&b1).unwrap();
let sol2 = chol.solve(&b2).unwrap(); let sol2 = chol.solve(&b2).unwrap();
return relative_eq!(&m * sol1, b1, epsilon = 1.0e-6) && prop_assert!(relative_eq!(&m * sol1, b1, epsilon = 1.0e-6));
relative_eq!(&m * sol2, b2, epsilon = 1.0e-6) prop_assert!(relative_eq!(&m * sol2, b2, epsilon = 1.0e-6));
}
} }
return true;
} }
fn cholesky_solve_static(m: Matrix4<f64>) -> bool { #[test]
fn cholesky_solve_static(m in matrix4()) {
let m = &m * m.transpose(); let m = &m * m.transpose();
match Cholesky::new(m) { if let Some(chol) = Cholesky::new(m) {
Some(chol) => { let b1 = Vector4::new_random();
let b1 = Vector4::new_random(); let b2 = Matrix4x3::new_random();
let b2 = Matrix4x3::new_random();
let sol1 = chol.solve(&b1).unwrap(); let sol1 = chol.solve(&b1).unwrap();
let sol2 = chol.solve(&b2).unwrap(); let sol2 = chol.solve(&b2).unwrap();
relative_eq!(m * sol1, b1, epsilon = 1.0e-7) && prop_assert!(relative_eq!(m * sol1, b1, epsilon = 1.0e-7));
relative_eq!(m * sol2, b2, epsilon = 1.0e-7) prop_assert!(relative_eq!(m * sol2, b2, epsilon = 1.0e-7));
},
None => true
} }
} }
fn cholesky_inverse(n: usize) -> bool { #[test]
if n != 0 { fn cholesky_inverse(n in PROPTEST_MATRIX_DIM) {
let n = cmp::min(n, 15); // To avoid slowing down the test too much. let n = cmp::min(n, 15); // To avoid slowing down the test too much.
let m = DMatrix::<f64>::new_random(n, n); let m = DMatrix::<f64>::new_random(n, n);
let m = &m * m.transpose(); let m = &m * m.transpose();
if let Some(m1) = Cholesky::new(m.clone()).unwrap().inverse() { if let Some(m1) = Cholesky::new(m.clone()).unwrap().inverse() {
let id1 = &m * &m1; let id1 = &m * &m1;
let id2 = &m1 * &m; let id2 = &m1 * &m;
return id1.is_identity(1.0e-6) && id2.is_identity(1.0e-6); prop_assert!(id1.is_identity(1.0e-6) && id2.is_identity(1.0e-6));
}
} }
return true;
} }
fn cholesky_inverse_static(m: Matrix4<f64>) -> bool { #[test]
fn cholesky_inverse_static(m in matrix4()) {
let m = m * m.transpose(); let m = m * m.transpose();
match Cholesky::new(m.clone()).unwrap().inverse() { if let Some(m1) = Cholesky::new(m.clone()).unwrap().inverse() {
Some(m1) => { let id1 = &m * &m1;
let id1 = &m * &m1; let id2 = &m1 * &m;
let id2 = &m1 * &m;
id1.is_identity(1.0e-5) && id2.is_identity(1.0e-5) prop_assert!(id1.is_identity(1.0e-5) && id2.is_identity(1.0e-5))
},
None => true
} }
} }
} }

44
nalgebra-lapack/tests/linalg/hessenberg.rs
View File

@ -1,38 +1,32 @@
use std::cmp; use std::cmp;
use nl::Hessenberg;
use na::{DMatrix, Matrix4}; use na::{DMatrix, Matrix4};
use nl::Hessenberg;
quickcheck!{ use crate::proptest::*;
fn hessenberg(n: usize) -> bool { use proptest::{prop_assert, proptest};
if n != 0 {
let n = cmp::min(n, 25);
let m = DMatrix::<f64>::new_random(n, n);
match Hessenberg::new(m.clone()) { proptest! {
Some(hess) => { #[test]
let h = hess.h(); fn hessenberg(n in PROPTEST_MATRIX_DIM) {
let p = hess.p(); let n = cmp::min(n, 25);
let m = DMatrix::<f64>::new_random(n, n);
relative_eq!(m, &p * h * p.transpose(), epsilon = 1.0e-7) if let Some(hess) = Hessenberg::new(m.clone()) {
}, let h = hess.h();
None => true let p = hess.p();
}
} prop_assert!(relative_eq!(m, &p * h * p.transpose(), epsilon = 1.0e-7))
else {
true
} }
} }
fn hessenberg_static(m: Matrix4<f64>) -> bool { #[test]
match Hessenberg::new(m) { fn hessenberg_static(m in matrix4()) {
Some(hess) => { if let Some(hess) = Hessenberg::new(m) {
let h = hess.h(); let h = hess.h();
let p = hess.p(); let p = hess.p();
relative_eq!(m, p * h * p.transpose(), epsilon = 1.0e-7) prop_assert!(relative_eq!(m, p * h * p.transpose(), epsilon = 1.0e-7))
},
None => true
} }
} }
} }

118
nalgebra-lapack/tests/linalg/lu.rs
View File

@ -1,28 +1,28 @@
use std::cmp; use std::cmp;
use na::{DMatrix, DVector, Matrix3x4, Matrix4, Matrix4x3, Vector4}; use na::{DMatrix, DVector, Matrix4x3, Vector4};
use nl::LU; use nl::LU;
quickcheck! { use crate::proptest::*;
fn lup(m: DMatrix<f64>) -> bool { use proptest::{prop_assert, proptest};
if m.len() != 0 {
let lup = LU::new(m.clone());
let l = lup.l();
let u = lup.u();
let mut computed1 = &l * &u;
lup.permute(&mut computed1);
let computed2 = lup.p() * l * u; proptest! {
#[test]
fn lup(m in dmatrix()) {
let lup = LU::new(m.clone());
let l = lup.l();
let u = lup.u();
let mut computed1 = &l * &u;
lup.permute(&mut computed1);
relative_eq!(computed1, m, epsilon = 1.0e-7) && let computed2 = lup.p() * l * u;
relative_eq!(computed2, m, epsilon = 1.0e-7)
} prop_assert!(relative_eq!(computed1, m, epsilon = 1.0e-7));
else { prop_assert!(relative_eq!(computed2, m, epsilon = 1.0e-7));
true
}
} }
fn lu_static(m: Matrix3x4<f64>) -> bool { #[test]
fn lu_static(m in matrix3x5()) {
let lup = LU::new(m); let lup = LU::new(m);
let l = lup.l(); let l = lup.l();
let u = lup.u(); let u = lup.u();
@ -31,37 +31,34 @@ quickcheck! {
let computed2 = lup.p() * l * u; let computed2 = lup.p() * l * u;
relative_eq!(computed1, m, epsilon = 1.0e-7) && prop_assert!(relative_eq!(computed1, m, epsilon = 1.0e-7));
relative_eq!(computed2, m, epsilon = 1.0e-7) prop_assert!(relative_eq!(computed2, m, epsilon = 1.0e-7));
} }
fn lu_solve(n: usize, nb: usize) -> bool { #[test]
if n != 0 { fn lu_solve(n in PROPTEST_MATRIX_DIM, nb in PROPTEST_MATRIX_DIM) {
let n = cmp::min(n, 25); // To avoid slowing down the test too much. let n = cmp::min(n, 25); // To avoid slowing down the test too much.
let nb = cmp::min(nb, 25); // To avoid slowing down the test too much. let nb = cmp::min(nb, 25); // To avoid slowing down the test too much.
let m = DMatrix::<f64>::new_random(n, n); let m = DMatrix::<f64>::new_random(n, n);
let lup = LU::new(m.clone()); let lup = LU::new(m.clone());
let b1 = DVector::new_random(n); let b1 = DVector::new_random(n);
let b2 = DMatrix::new_random(n, nb); let b2 = DMatrix::new_random(n, nb);
let sol1 = lup.solve(&b1).unwrap(); let sol1 = lup.solve(&b1).unwrap();
let sol2 = lup.solve(&b2).unwrap(); let sol2 = lup.solve(&b2).unwrap();
let tr_sol1 = lup.solve_transpose(&b1).unwrap(); let tr_sol1 = lup.solve_transpose(&b1).unwrap();
let tr_sol2 = lup.solve_transpose(&b2).unwrap(); let tr_sol2 = lup.solve_transpose(&b2).unwrap();
relative_eq!(&m * sol1, b1, epsilon = 1.0e-7) && prop_assert!(relative_eq!(&m * sol1, b1, epsilon = 1.0e-7));
relative_eq!(&m * sol2, b2, epsilon = 1.0e-7) && prop_assert!(relative_eq!(&m * sol2, b2, epsilon = 1.0e-7));
relative_eq!(m.transpose() * tr_sol1, b1, epsilon = 1.0e-7) && prop_assert!(relative_eq!(m.transpose() * tr_sol1, b1, epsilon = 1.0e-7));
relative_eq!(m.transpose() * tr_sol2, b2, epsilon = 1.0e-7) prop_assert!(relative_eq!(m.transpose() * tr_sol2, b2, epsilon = 1.0e-7));
}
else {
true
}
} }
fn lu_solve_static(m: Matrix4<f64>) -> bool { #[test]
fn lu_solve_static(m in matrix4()) {
let lup = LU::new(m); let lup = LU::new(m);
let b1 = Vector4::new_random(); let b1 = Vector4::new_random();
let b2 = Matrix4x3::new_random(); let b2 = Matrix4x3::new_random();
@ -71,37 +68,32 @@ quickcheck! {
let tr_sol1 = lup.solve_transpose(&b1).unwrap(); let tr_sol1 = lup.solve_transpose(&b1).unwrap();
let tr_sol2 = lup.solve_transpose(&b2).unwrap(); let tr_sol2 = lup.solve_transpose(&b2).unwrap();
relative_eq!(m * sol1, b1, epsilon = 1.0e-7) && prop_assert!(relative_eq!(m * sol1, b1, epsilon = 1.0e-7));
relative_eq!(m * sol2, b2, epsilon = 1.0e-7) && prop_assert!(relative_eq!(m * sol2, b2, epsilon = 1.0e-7));
relative_eq!(m.transpose() * tr_sol1, b1, epsilon = 1.0e-7) && prop_assert!(relative_eq!(m.transpose() * tr_sol1, b1, epsilon = 1.0e-7));
relative_eq!(m.transpose() * tr_sol2, b2, epsilon = 1.0e-7) prop_assert!(relative_eq!(m.transpose() * tr_sol2, b2, epsilon = 1.0e-7));
} }
fn lu_inverse(n: usize) -> bool { #[test]
if n != 0 { fn lu_inverse(n in PROPTEST_MATRIX_DIM) {
let n = cmp::min(n, 25); // To avoid slowing down the test too much. let n = cmp::min(n, 25); // To avoid slowing down the test too much.
let m = DMatrix::<f64>::new_random(n, n); let m = DMatrix::<f64>::new_random(n, n);
if let Some(m1) = LU::new(m.clone()).inverse() { if let Some(m1) = LU::new(m.clone()).inverse() {
let id1 = &m * &m1; let id1 = &m * &m1;
let id2 = &m1 * &m; let id2 = &m1 * &m;
return id1.is_identity(1.0e-7) && id2.is_identity(1.0e-7); prop_assert!(id1.is_identity(1.0e-7) && id2.is_identity(1.0e-7));
}
} }
return true;
} }
fn lu_inverse_static(m: Matrix4<f64>) -> bool { #[test]
match LU::new(m.clone()).inverse() { fn lu_inverse_static(m in matrix4()) {
Some(m1) => { if let Some(m1) = LU::new(m.clone()).inverse() {
let id1 = &m * &m1; let id1 = &m * &m1;
let id2 = &m1 * &m; let id2 = &m1 * &m;
id1.is_identity(1.0e-5) && id2.is_identity(1.0e-5) prop_assert!(id1.is_identity(1.0e-5) && id2.is_identity(1.0e-5))
},
None => true
} }
} }
} }

16
nalgebra-lapack/tests/linalg/qr.rs
View File

@ -1,20 +1,24 @@
use na::{DMatrix, Matrix4x3};
use nl::QR; use nl::QR;
quickcheck! { use crate::proptest::*;
fn qr(m: DMatrix<f64>) -> bool { use proptest::{prop_assert, proptest};
proptest! {
#[test]
fn qr(m in dmatrix()) {
let qr = QR::new(m.clone()); let qr = QR::new(m.clone());
let q = qr.q(); let q = qr.q();
let r = qr.r(); let r = qr.r();
relative_eq!(m, q * r, epsilon = 1.0e-7) prop_assert!(relative_eq!(m, q * r, epsilon = 1.0e-7))
} }
fn qr_static(m: Matrix4x3<f64>) -> bool { #[test]
fn qr_static(m in matrix5x3()) {
let qr = QR::new(m); let qr = QR::new(m);
let q = qr.q(); let q = qr.q();
let r = qr.r(); let r = qr.r();
relative_eq!(m, q * r, epsilon = 1.0e-7) prop_assert!(relative_eq!(m, q * r, epsilon = 1.0e-7))
} }
} }

58
nalgebra-lapack/tests/linalg/real_eigensystem.rs
View File

@ -3,46 +3,40 @@ use std::cmp;
use na::{DMatrix, Matrix4}; use na::{DMatrix, Matrix4};
use nl::Eigen; use nl::Eigen;
quickcheck! { use crate::proptest::*;
fn eigensystem(n: usize) -> bool { use proptest::{prop_assert, proptest};
if n != 0 {
let n = cmp::min(n, 25);
let m = DMatrix::<f64>::new_random(n, n);
match Eigen::new(m.clone(), true, true) { proptest! {
Some(eig) => { #[test]
let eigvals = DMatrix::from_diagonal(&eig.eigenvalues); fn eigensystem(n in PROPTEST_MATRIX_DIM) {
let transformed_eigvectors = &m * eig.eigenvectors.as_ref().unwrap(); let n = cmp::min(n, 25);
let scaled_eigvectors = eig.eigenvectors.as_ref().unwrap() * &eigvals; let m = DMatrix::<f64>::new_random(n, n);
let transformed_left_eigvectors = m.transpose() * eig.left_eigenvectors.as_ref().unwrap(); if let Some(eig) = Eigen::new(m.clone(), true, true) {
let scaled_left_eigvectors = eig.left_eigenvectors.as_ref().unwrap() * &eigvals; let eigvals = DMatrix::from_diagonal(&eig.eigenvalues);
let transformed_eigvectors = &m * eig.eigenvectors.as_ref().unwrap();
let scaled_eigvectors = eig.eigenvectors.as_ref().unwrap() * &eigvals;
relative_eq!(transformed_eigvectors, scaled_eigvectors, epsilon = 1.0e-7) && let transformed_left_eigvectors = m.transpose() * eig.left_eigenvectors.as_ref().unwrap();
relative_eq!(transformed_left_eigvectors, scaled_left_eigvectors, epsilon = 1.0e-7) let scaled_left_eigvectors = eig.left_eigenvectors.as_ref().unwrap() * &eigvals;
},
None => true prop_assert!(relative_eq!(transformed_eigvectors, scaled_eigvectors, epsilon = 1.0e-7));
} prop_assert!(relative_eq!(transformed_left_eigvectors, scaled_left_eigvectors, epsilon = 1.0e-7));
}
else {
true
} }
} }
fn eigensystem_static(m: Matrix4<f64>) -> bool { #[test]
match Eigen::new(m, true, true) { fn eigensystem_static(m in matrix4()) {
Some(eig) => { if let Some(eig) = Eigen::new(m, true, true) {
let eigvals = Matrix4::from_diagonal(&eig.eigenvalues); let eigvals = Matrix4::from_diagonal(&eig.eigenvalues);
let transformed_eigvectors = m * eig.eigenvectors.unwrap(); let transformed_eigvectors = m * eig.eigenvectors.unwrap();
let scaled_eigvectors = eig.eigenvectors.unwrap() * eigvals; let scaled_eigvectors = eig.eigenvectors.unwrap() * eigvals;
let transformed_left_eigvectors = m.transpose() * eig.left_eigenvectors.unwrap(); let transformed_left_eigvectors = m.transpose() * eig.left_eigenvectors.unwrap();
let scaled_left_eigvectors = eig.left_eigenvectors.unwrap() * eigvals; let scaled_left_eigvectors = eig.left_eigenvectors.unwrap() * eigvals;
relative_eq!(transformed_eigvectors, scaled_eigvectors, epsilon = 1.0e-7) && prop_assert!(relative_eq!(transformed_eigvectors, scaled_eigvectors, epsilon = 1.0e-7));
relative_eq!(transformed_left_eigvectors, scaled_left_eigvectors, epsilon = 1.0e-7) prop_assert!(relative_eq!(transformed_left_eigvectors, scaled_left_eigvectors, epsilon = 1.0e-7));
},
None => true
} }
} }
} }

18
nalgebra-lapack/tests/linalg/schur.rs
View File

@ -1,20 +1,24 @@
use na::{DMatrix, Matrix4}; use na::DMatrix;
use nl::Schur; use nl::Schur;
use std::cmp; use std::cmp;
quickcheck! { use crate::proptest::*;
fn schur(n: usize) -> bool { use proptest::{prop_assert, proptest};
proptest! {
#[test]
fn schur(n in PROPTEST_MATRIX_DIM) {
let n = cmp::max(1, cmp::min(n, 10)); let n = cmp::max(1, cmp::min(n, 10));
let m = DMatrix::<f64>::new_random(n, n); let m = DMatrix::<f64>::new_random(n, n);
let (vecs, vals) = Schur::new(m.clone()).unpack(); let (vecs, vals) = Schur::new(m.clone()).unpack();
relative_eq!(&vecs * vals * vecs.transpose(), m, epsilon = 1.0e-7) prop_assert!(relative_eq!(&vecs * vals * vecs.transpose(), m, epsilon = 1.0e-7))
} }
fn schur_static(m: Matrix4<f64>) -> bool { #[test]
fn schur_static(m in matrix4()) {
let (vecs, vals) = Schur::new(m.clone()).unpack(); let (vecs, vals) = Schur::new(m.clone()).unpack();
prop_assert!(relative_eq!(vecs * vals * vecs.transpose(), m, epsilon = 1.0e-7))
relative_eq!(vecs * vals * vecs.transpose(), m, epsilon = 1.0e-7)
} }
} }

54
nalgebra-lapack/tests/linalg/svd.rs
View File

@ -1,57 +1,53 @@
use na::{DMatrix, Matrix3x4}; use na::{DMatrix, Matrix3x5};
use nl::SVD; use nl::SVD;
quickcheck! { use crate::proptest::*;
fn svd(m: DMatrix<f64>) -> bool { use proptest::{prop_assert, proptest};
if m.nrows() != 0 && m.ncols() != 0 {
let svd = SVD::new(m.clone()).unwrap();
let sm = DMatrix::from_partial_diagonal(m.nrows(), m.ncols(), svd.singular_values.as_slice());
let reconstructed_m = &svd.u * sm * &svd.vt; proptest! {
let reconstructed_m2 = svd.recompose(); #[test]
fn svd(m in dmatrix()) {
let svd = SVD::new(m.clone()).unwrap();
let sm = DMatrix::from_partial_diagonal(m.nrows(), m.ncols(), svd.singular_values.as_slice());
relative_eq!(reconstructed_m, m, epsilon = 1.0e-7) && let reconstructed_m = &svd.u * sm * &svd.vt;
relative_eq!(reconstructed_m2, reconstructed_m, epsilon = 1.0e-7) let reconstructed_m2 = svd.recompose();
}
else { prop_assert!(relative_eq!(reconstructed_m, m, epsilon = 1.0e-7));
true prop_assert!(relative_eq!(reconstructed_m2, reconstructed_m, epsilon = 1.0e-7));
}
} }
fn svd_static(m: Matrix3x4<f64>) -> bool { #[test]
fn svd_static(m in matrix3x5()) {
let svd = SVD::new(m).unwrap(); let svd = SVD::new(m).unwrap();
let sm = Matrix3x4::from_partial_diagonal(svd.singular_values.as_slice()); let sm = Matrix3x5::from_partial_diagonal(svd.singular_values.as_slice());
let reconstructed_m = &svd.u * &sm * &svd.vt; let reconstructed_m = &svd.u * &sm * &svd.vt;
let reconstructed_m2 = svd.recompose(); let reconstructed_m2 = svd.recompose();
relative_eq!(reconstructed_m, m, epsilon = 1.0e-7) && prop_assert!(relative_eq!(reconstructed_m, m, epsilon = 1.0e-7));
relative_eq!(reconstructed_m2, m, epsilon = 1.0e-7) prop_assert!(relative_eq!(reconstructed_m2, m, epsilon = 1.0e-7));
} }
fn pseudo_inverse(m: DMatrix<f64>) -> bool { #[test]
if m.nrows() == 0 || m.ncols() == 0 { fn pseudo_inverse(m in dmatrix()) {
return true;
}
let svd = SVD::new(m.clone()).unwrap(); let svd = SVD::new(m.clone()).unwrap();
let im = svd.pseudo_inverse(1.0e-7); let im = svd.pseudo_inverse(1.0e-7);
if m.nrows() <= m.ncols() { if m.nrows() <= m.ncols() {
return (&m * &im).is_identity(1.0e-7) prop_assert!((&m * &im).is_identity(1.0e-7));
} }
if m.nrows() >= m.ncols() { if m.nrows() >= m.ncols() {
return (im * m).is_identity(1.0e-7) prop_assert!((im * m).is_identity(1.0e-7));
} }
return true;
} }
fn pseudo_inverse_static(m: Matrix3x4<f64>) -> bool { #[test]
fn pseudo_inverse_static(m in matrix3x5()) {
let svd = SVD::new(m).unwrap(); let svd = SVD::new(m).unwrap();
let im = svd.pseudo_inverse(1.0e-7); let im = svd.pseudo_inverse(1.0e-7);
(m * im).is_identity(1.0e-7) prop_assert!((m * im).is_identity(1.0e-7))
} }
} }

17
nalgebra-lapack/tests/linalg/symmetric_eigen.rs
View File

@ -1,20 +1,25 @@
use std::cmp; use std::cmp;
use na::{DMatrix, Matrix4}; use na::DMatrix;
use nl::SymmetricEigen; use nl::SymmetricEigen;
quickcheck! { use crate::proptest::*;
fn symmetric_eigen(n: usize) -> bool { use proptest::{prop_assert, proptest};
proptest! {
#[test]
fn symmetric_eigen(n in PROPTEST_MATRIX_DIM) {
let n = cmp::max(1, cmp::min(n, 10)); let n = cmp::max(1, cmp::min(n, 10));
let m = DMatrix::<f64>::new_random(n, n); let m = DMatrix::<f64>::new_random(n, n);
let eig = SymmetricEigen::new(m.clone()); let eig = SymmetricEigen::new(m.clone());
let recomp = eig.recompose(); let recomp = eig.recompose();
relative_eq!(m.lower_triangle(), recomp.lower_triangle(), epsilon = 1.0e-5) prop_assert!(relative_eq!(m.lower_triangle(), recomp.lower_triangle(), epsilon = 1.0e-5))
} }
fn symmetric_eigen_static(m: Matrix4<f64>) -> bool { #[test]
fn symmetric_eigen_static(m in matrix4()) {
let eig = SymmetricEigen::new(m); let eig = SymmetricEigen::new(m);
let recomp = eig.recompose(); let recomp = eig.recompose();
relative_eq!(m.lower_triangle(), recomp.lower_triangle(), epsilon = 1.0e-5) prop_assert!(relative_eq!(m.lower_triangle(), recomp.lower_triangle(), epsilon = 1.0e-5))
} }
} }

4
nalgebra-sparse/Cargo.toml
View File

@ -14,11 +14,11 @@ slow-tests = []
[dependencies] [dependencies]
nalgebra = { version="0.24", path = "../" } nalgebra = { version="0.24", path = "../" }
num-traits = { version = "0.2", default-features = false } num-traits = { version = "0.2", default-features = false }
proptest = { version = "0.10", optional = true } proptest = { version = "1.0", optional = true }
matrixcompare-core = { version = "0.1.0", optional = true } matrixcompare-core = { version = "0.1.0", optional = true }
[dev-dependencies] [dev-dependencies]
itertools = "0.9" itertools = "0.10"
matrixcompare = { version = "0.2.0", features = [ "proptest-support" ] } matrixcompare = { version = "0.2.0", features = [ "proptest-support" ] }
nalgebra = { version="0.24", path = "../", features = ["compare"] } nalgebra = { version="0.24", path = "../", features = ["compare"] }

4
nalgebra-sparse/src/proptest/proptest_patched.rs
View File

@ -108,8 +108,8 @@ where
// NOTE: The below line is the whole reason for the existence of this adapted code // NOTE: The below line is the whole reason for the existence of this adapted code
// We need to be able to swap with the same element, so that some elements remain in // We need to be able to swap with the same element, so that some elements remain in
// place rather being swapped // place rather being swapped
// let end_index = rng.gen_range(start_index + 1, len); // let end_index = rng.gen_range(start_index + 1..len);
let end_index = rng.gen_range(start_index, len); let end_index = rng.gen_range(start_index..len);
if end_index - start_index <= max_swap { if end_index - start_index <= max_swap {
value.shuffle_swap(start_index, end_index); value.shuffle_swap(start_index, end_index);
} }

10
src/base/construction.rs
View File

@ -824,8 +824,8 @@ where
{ {
#[inline] #[inline]
fn sample<'a, G: Rng + ?Sized>(&self, rng: &'a mut G) -> MatrixMN<N, R, C> { fn sample<'a, G: Rng + ?Sized>(&self, rng: &'a mut G) -> MatrixMN<N, R, C> {
let nrows = R::try_to_usize().unwrap_or_else(|| rng.gen_range(0, 10)); let nrows = R::try_to_usize().unwrap_or_else(|| rng.gen_range(0..10));
let ncols = C::try_to_usize().unwrap_or_else(|| rng.gen_range(0, 10)); let ncols = C::try_to_usize().unwrap_or_else(|| rng.gen_range(0..10));
MatrixMN::from_fn_generic(R::from_usize(nrows), C::from_usize(ncols), |_, _| rng.gen()) MatrixMN::from_fn_generic(R::from_usize(nrows), C::from_usize(ncols), |_, _| rng.gen())
} }
@ -841,9 +841,9 @@ where
Owned<N, R, C>: Clone + Send, Owned<N, R, C>: Clone + Send,
{ {
#[inline] #[inline]
fn arbitrary<G: Gen>(g: &mut G) -> Self { fn arbitrary(g: &mut Gen) -> Self {
let nrows = R::try_to_usize().unwrap_or(g.gen_range(0, 10)); let nrows = R::try_to_usize().unwrap_or(usize::arbitrary(g) % 10);
let ncols = C::try_to_usize().unwrap_or(g.gen_range(0, 10)); let ncols = C::try_to_usize().unwrap_or(usize::arbitrary(g) % 10);
Self::from_fn_generic(R::from_usize(nrows), C::from_usize(ncols), |_, _| { Self::from_fn_generic(R::from_usize(nrows), C::from_usize(ncols), |_, _| {
N::arbitrary(g) N::arbitrary(g)

2
src/base/helper.rs
View File

@ -7,7 +7,7 @@ use rand::Rng;
#[cfg(feature = "arbitrary")] #[cfg(feature = "arbitrary")]
#[doc(hidden)] #[doc(hidden)]
#[inline] #[inline]
pub fn reject<G: Gen, F: FnMut(&T) -> bool, T: Arbitrary>(g: &mut G, f: F) -> T { pub fn reject<F: FnMut(&T) -> bool, T: Arbitrary>(g: &mut Gen, f: F) -> T {
use std::iter; use std::iter;
iter::repeat(()) iter::repeat(())
.map(|_| Arbitrary::arbitrary(g)) .map(|_| Arbitrary::arbitrary(g))

5
src/debug/random_orthogonal.rs
View File

@ -48,9 +48,8 @@ where
DefaultAllocator: Allocator<N, D, D>, DefaultAllocator: Allocator<N, D, D>,
Owned<N, D, D>: Clone + Send, Owned<N, D, D>: Clone + Send,
{ {
fn arbitrary<G: Gen>(g: &mut G) -> Self { fn arbitrary(g: &mut Gen) -> Self {
use rand::Rng; let dim = D::try_to_usize().unwrap_or(1 + usize::arbitrary(g) % 50);
let dim = D::try_to_usize().unwrap_or(g.gen_range(1, 50));
Self::new(D::from_usize(dim), || N::arbitrary(g)) Self::new(D::from_usize(dim), || N::arbitrary(g))
} }
} }

5
src/debug/random_sdp.rs
View File

@ -51,9 +51,8 @@ where
DefaultAllocator: Allocator<N, D, D>, DefaultAllocator: Allocator<N, D, D>,
Owned<N, D, D>: Clone + Send, Owned<N, D, D>: Clone + Send,
{ {
fn arbitrary<G: Gen>(g: &mut G) -> Self { fn arbitrary(g: &mut Gen) -> Self {
use rand::Rng; let dim = D::try_to_usize().unwrap_or(1 + usize::arbitrary(g) % 50);
let dim = D::try_to_usize().unwrap_or(g.gen_range(1, 50));
Self::new(D::from_usize(dim), || N::arbitrary(g)) Self::new(D::from_usize(dim), || N::arbitrary(g))
} }
} }

4
src/geometry/dual_quaternion_construction.rs
View File

@ -108,7 +108,7 @@ where
N::Element: SimdRealField, N::Element: SimdRealField,
{ {
#[inline] #[inline]
fn arbitrary<G: Gen>(rng: &mut G) -> Self { fn arbitrary(rng: &mut Gen) -> Self {
Self::from_real_and_dual(Arbitrary::arbitrary(rng), Arbitrary::arbitrary(rng)) Self::from_real_and_dual(Arbitrary::arbitrary(rng), Arbitrary::arbitrary(rng))
} }
} }
@ -216,7 +216,7 @@ where
N::Element: SimdRealField, N::Element: SimdRealField,
{ {
#[inline] #[inline]
fn arbitrary<G: Gen>(rng: &mut G) -> Self { fn arbitrary(rng: &mut Gen) -> Self {
Self::new_normalize(Arbitrary::arbitrary(rng)) Self::new_normalize(Arbitrary::arbitrary(rng))
} }
} }

2
src/geometry/isometry_construction.rs
View File

@ -102,7 +102,7 @@ where
DefaultAllocator: Allocator<N, D>, DefaultAllocator: Allocator<N, D>,
{ {
#[inline] #[inline]
fn arbitrary<G: Gen>(rng: &mut G) -> Self { fn arbitrary(rng: &mut Gen) -> Self {
Self::from_parts(Arbitrary::arbitrary(rng), Arbitrary::arbitrary(rng)) Self::from_parts(Arbitrary::arbitrary(rng), Arbitrary::arbitrary(rng))
} }
} }

2
src/geometry/orthographic.rs
View File

@ -705,7 +705,7 @@ impl<N: RealField + Arbitrary> Arbitrary for Orthographic3<N>
where where
Matrix4<N>: Send, Matrix4<N>: Send,
{ {
fn arbitrary<G: Gen>(g: &mut G) -> Self { fn arbitrary(g: &mut Gen) -> Self {
let left = Arbitrary::arbitrary(g); let left = Arbitrary::arbitrary(g);
let right = helper::reject(g, |x: &N| *x > left); let right = helper::reject(g, |x: &N| *x > left);
let bottom = Arbitrary::arbitrary(g); let bottom = Arbitrary::arbitrary(g);

2
src/geometry/perspective.rs
View File

@ -283,7 +283,7 @@ where
#[cfg(feature = "arbitrary")] #[cfg(feature = "arbitrary")]
impl<N: RealField + Arbitrary> Arbitrary for Perspective3<N> { impl<N: RealField + Arbitrary> Arbitrary for Perspective3<N> {
fn arbitrary<G: Gen>(g: &mut G) -> Self { fn arbitrary(g: &mut Gen) -> Self {
let znear = Arbitrary::arbitrary(g); let znear = Arbitrary::arbitrary(g);
let zfar = helper::reject(g, |&x: &N| !(x - znear).is_zero()); let zfar = helper::reject(g, |&x: &N| !(x - znear).is_zero());
let aspect = helper::reject(g, |&x: &N| !x.is_zero()); let aspect = helper::reject(g, |&x: &N| !x.is_zero());

2
src/geometry/point_construction.rs
View File

@ -156,7 +156,7 @@ where
<DefaultAllocator as Allocator<N, D>>::Buffer: Send, <DefaultAllocator as Allocator<N, D>>::Buffer: Send,
{ {
#[inline] #[inline]
fn arbitrary<G: Gen>(g: &mut G) -> Self { fn arbitrary(g: &mut Gen) -> Self {
Self::from(VectorN::arbitrary(g)) Self::from(VectorN::arbitrary(g))
} }
} }

4
src/geometry/quaternion_construction.rs
View File

@ -160,7 +160,7 @@ where
Owned<N, U4>: Send, Owned<N, U4>: Send,
{ {
#[inline] #[inline]
fn arbitrary<G: Gen>(g: &mut G) -> Self { fn arbitrary(g: &mut Gen) -> Self {
Self::new( Self::new(
N::arbitrary(g), N::arbitrary(g),
N::arbitrary(g), N::arbitrary(g),
@ -845,7 +845,7 @@ where
Owned<N, U3>: Send, Owned<N, U3>: Send,
{ {
#[inline] #[inline]
fn arbitrary<G: Gen>(g: &mut G) -> Self { fn arbitrary(g: &mut Gen) -> Self {
let axisangle = Vector3::arbitrary(g); let axisangle = Vector3::arbitrary(g);
Self::from_scaled_axis(axisangle) Self::from_scaled_axis(axisangle)
} }

4
src/geometry/rotation_specialization.rs
View File

@ -275,7 +275,7 @@ where
Owned<N, U2, U2>: Send, Owned<N, U2, U2>: Send,
{ {
#[inline] #[inline]
fn arbitrary<G: Gen>(g: &mut G) -> Self { fn arbitrary(g: &mut Gen) -> Self {
Self::new(N::arbitrary(g)) Self::new(N::arbitrary(g))
} }
} }
@ -961,7 +961,7 @@ where
Owned<N, U3>: Send, Owned<N, U3>: Send,
{ {
#[inline] #[inline]
fn arbitrary<G: Gen>(g: &mut G) -> Self { fn arbitrary(g: &mut Gen) -> Self {
Self::new(VectorN::arbitrary(g)) Self::new(VectorN::arbitrary(g))
} }
} }

2
src/geometry/similarity_construction.rs
View File

@ -114,7 +114,7 @@ where
Owned<N, D>: Send, Owned<N, D>: Send,
{ {
#[inline] #[inline]
fn arbitrary<G: Gen>(rng: &mut G) -> Self { fn arbitrary(rng: &mut Gen) -> Self {
let mut s: N = Arbitrary::arbitrary(rng); let mut s: N = Arbitrary::arbitrary(rng);
while s.is_zero() { while s.is_zero() {
s = Arbitrary::arbitrary(rng) s = Arbitrary::arbitrary(rng)

4
src/geometry/translation_construction.rs
View File

@ -61,13 +61,13 @@ where
} }
#[cfg(feature = "arbitrary")] #[cfg(feature = "arbitrary")]
impl<N: Scalar + Arbitrary, D: DimName> Arbitrary for Translation<N, D> impl<N: Scalar + Arbitrary + Send, D: DimName> Arbitrary for Translation<N, D>
where where
DefaultAllocator: Allocator<N, D>, DefaultAllocator: Allocator<N, D>,
Owned<N, D>: Send, Owned<N, D>: Send,
{ {
#[inline] #[inline]
fn arbitrary<G: Gen>(rng: &mut G) -> Self { fn arbitrary(rng: &mut Gen) -> Self {
let v: VectorN<N, D> = Arbitrary::arbitrary(rng); let v: VectorN<N, D> = Arbitrary::arbitrary(rng);
Self::from(v) Self::from(v)
} }

2
src/geometry/unit_complex_construction.rs
View File

@ -395,7 +395,7 @@ where
N::Element: SimdRealField, N::Element: SimdRealField,
{ {
#[inline] #[inline]
fn arbitrary<G: Gen>(g: &mut G) -> Self { fn arbitrary(g: &mut Gen) -> Self {
UnitComplex::from_angle(N::arbitrary(g)) UnitComplex::from_angle(N::arbitrary(g))
} }
} }

2
src/linalg/decomposition.rs
View File

@ -154,7 +154,7 @@ impl<N: ComplexField, D: Dim, S: Storage<N, D, D>> Matrix<N, D, D, S> {
/// ///
/// The input matrix `self` is assumed to be symmetric and this decomposition will only read /// The input matrix `self` is assumed to be symmetric and this decomposition will only read
/// the upper-triangular part of `self`. /// the upper-triangular part of `self`.
pub fn udu(self) -> UDU<N, D> pub fn udu(self) -> Option<UDU<N, D>>
where where
N: RealField, N: RealField,
DefaultAllocator: Allocator<N, D> + Allocator<N, D, D>, DefaultAllocator: Allocator<N, D> + Allocator<N, D, D>,

13
src/linalg/udu.rs
View File

@ -48,7 +48,7 @@ where
/// the upper-triangular part of `p`. /// the upper-triangular part of `p`.
/// ///
/// Ref.: "Optimal control and estimation-Dover Publications", Robert F. Stengel, (1994) page 360 /// Ref.: "Optimal control and estimation-Dover Publications", Robert F. Stengel, (1994) page 360
pub fn new(p: MatrixN<N, D>) -> Self { pub fn new(p: MatrixN<N, D>) -> Option<Self> {
let n = p.ncols(); let n = p.ncols();
let n_dim = p.data.shape().1; let n_dim = p.data.shape().1;
@ -56,6 +56,11 @@ where
let mut u = MatrixN::zeros_generic(n_dim, n_dim); let mut u = MatrixN::zeros_generic(n_dim, n_dim);
d[n - 1] = p[(n - 1, n - 1)]; d[n - 1] = p[(n - 1, n - 1)];
if d[n - 1].is_zero() {
return None;
}
u.column_mut(n - 1) u.column_mut(n - 1)
.axpy(N::one() / d[n - 1], &p.column(n - 1), N::zero()); .axpy(N::one() / d[n - 1], &p.column(n - 1), N::zero());
@ -67,6 +72,10 @@ where
d[j] = p[(j, j)] - d_j; d[j] = p[(j, j)] - d_j;
if d[j].is_zero() {
return None;
}
for i in (0..=j).rev() { for i in (0..=j).rev() {
let mut u_ij = u[(i, j)]; let mut u_ij = u[(i, j)];
for k in j + 1..n { for k in j + 1..n {
@ -79,7 +88,7 @@ where
u[(j, j)] = N::one(); u[(j, j)] = N::one();
} }
Self { u, d } Some(Self { u, d })
} }
/// Returns the diagonal elements as a matrix /// Returns the diagonal elements as a matrix

2
src/proptest/mod.rs
View File

@ -408,7 +408,7 @@ where
} }
/// A strategy for generating matrices. /// A strategy for generating matrices.
#[derive(Debug)] #[derive(Debug, Clone)]
pub struct MatrixStrategy<NStrategy, R: Dim, C: Dim> pub struct MatrixStrategy<NStrategy, R: Dim, C: Dim>
where where
NStrategy: Strategy, NStrategy: Strategy,

55
tests/core/blas.rs
View File

@ -21,19 +21,20 @@ fn gemm_noncommutative() {
assert_eq!(res, Matrix2::zero()); assert_eq!(res, Matrix2::zero());
} }
#[cfg(feature = "arbitrary")] #[cfg(feature = "proptest-support")]
mod blas_quickcheck { mod blas_proptest {
use crate::proptest::{PROPTEST_F64, PROPTEST_MATRIX_DIM};
use na::{DMatrix, DVector}; use na::{DMatrix, DVector};
use std::cmp; use proptest::{prop_assert, proptest};
quickcheck! { proptest! {
/* /*
* *
* Symmetric operators. * Symmetric operators.
* *
*/ */
fn gemv_symm(n: usize, alpha: f64, beta: f64) -> bool { #[test]
let n = cmp::max(1, cmp::min(n, 50)); fn gemv_symm(n in PROPTEST_MATRIX_DIM, alpha in PROPTEST_F64, beta in PROPTEST_F64) {
let a = DMatrix::<f64>::new_random(n, n); let a = DMatrix::<f64>::new_random(n, n);
let a = &a * a.transpose(); let a = &a * a.transpose();
@ -44,18 +45,16 @@ mod blas_quickcheck {
y1.gemv(alpha, &a, &x, beta); y1.gemv(alpha, &a, &x, beta);
y2.sygemv(alpha, &a.lower_triangle(), &x, beta); y2.sygemv(alpha, &a.lower_triangle(), &x, beta);
if !relative_eq!(y1, y2, epsilon = 1.0e-10) { prop_assert!(relative_eq!(y1, y2, epsilon = 1.0e-10));
return false;
}
y1.gemv(alpha, &a, &x, 0.0); y1.gemv(alpha, &a, &x, 0.0);
y2.sygemv(alpha, &a.lower_triangle(), &x, 0.0); y2.sygemv(alpha, &a.lower_triangle(), &x, 0.0);
relative_eq!(y1, y2, epsilon = 1.0e-10) prop_assert!(relative_eq!(y1, y2, epsilon = 1.0e-10))
} }
fn gemv_tr(n: usize, alpha: f64, beta: f64) -> bool { #[test]
let n = cmp::max(1, cmp::min(n, 50)); fn gemv_tr(n in PROPTEST_MATRIX_DIM, alpha in PROPTEST_F64, beta in PROPTEST_F64) {
let a = DMatrix::<f64>::new_random(n, n); let a = DMatrix::<f64>::new_random(n, n);
let x = DVector::new_random(n); let x = DVector::new_random(n);
let mut y1 = DVector::new_random(n); let mut y1 = DVector::new_random(n);
@ -64,18 +63,16 @@ mod blas_quickcheck {
y1.gemv(alpha, &a, &x, beta); y1.gemv(alpha, &a, &x, beta);
y2.gemv_tr(alpha, &a.transpose(), &x, beta); y2.gemv_tr(alpha, &a.transpose(), &x, beta);
if !relative_eq!(y1, y2, epsilon = 1.0e-10) { prop_assert!(relative_eq!(y1, y2, epsilon = 1.0e-10));
return false;
}
y1.gemv(alpha, &a, &x, 0.0); y1.gemv(alpha, &a, &x, 0.0);
y2.gemv_tr(alpha, &a.transpose(), &x, 0.0); y2.gemv_tr(alpha, &a.transpose(), &x, 0.0);
relative_eq!(y1, y2, epsilon = 1.0e-10) prop_assert!(relative_eq!(y1, y2, epsilon = 1.0e-10))
} }
fn ger_symm(n: usize, alpha: f64, beta: f64) -> bool { #[test]
let n = cmp::max(1, cmp::min(n, 50)); fn ger_symm(n in PROPTEST_MATRIX_DIM, alpha in PROPTEST_F64, beta in PROPTEST_F64) {
let a = DMatrix::<f64>::new_random(n, n); let a = DMatrix::<f64>::new_random(n, n);
let mut a1 = &a * a.transpose(); let mut a1 = &a * a.transpose();
let mut a2 = a1.lower_triangle(); let mut a2 = a1.lower_triangle();
@ -86,18 +83,16 @@ mod blas_quickcheck {
a1.ger(alpha, &x, &y, beta); a1.ger(alpha, &x, &y, beta);
a2.syger(alpha, &x, &y, beta); a2.syger(alpha, &x, &y, beta);
if !relative_eq!(a1.lower_triangle(), a2) { prop_assert!(relative_eq!(a1.lower_triangle(), a2));
return false;
}
a1.ger(alpha, &x, &y, 0.0); a1.ger(alpha, &x, &y, 0.0);
a2.syger(alpha, &x, &y, 0.0); a2.syger(alpha, &x, &y, 0.0);
relative_eq!(a1.lower_triangle(), a2) prop_assert!(relative_eq!(a1.lower_triangle(), a2))
} }
fn quadform(n: usize, alpha: f64, beta: f64) -> bool { #[test]
let n = cmp::max(1, cmp::min(n, 50)); fn quadform(n in PROPTEST_MATRIX_DIM, alpha in PROPTEST_F64, beta in PROPTEST_F64) {
let rhs = DMatrix::<f64>::new_random(6, n); let rhs = DMatrix::<f64>::new_random(6, n);
let mid = DMatrix::<f64>::new_random(6, 6); let mid = DMatrix::<f64>::new_random(6, 6);
let mut res = DMatrix::new_random(n, n); let mut res = DMatrix::new_random(n, n);
@ -106,13 +101,11 @@ mod blas_quickcheck {
res.quadform(alpha, &mid, &rhs, beta); res.quadform(alpha, &mid, &rhs, beta);
println!("{}{}", res, expected); prop_assert!(relative_eq!(res, expected, epsilon = 1.0e-7))
relative_eq!(res, expected, epsilon = 1.0e-7)
} }
fn quadform_tr(n: usize, alpha: f64, beta: f64) -> bool { #[test]
let n = cmp::max(1, cmp::min(n, 50)); fn quadform_tr(n in PROPTEST_MATRIX_DIM, alpha in PROPTEST_F64, beta in PROPTEST_F64) {
let lhs = DMatrix::<f64>::new_random(6, n); let lhs = DMatrix::<f64>::new_random(6, n);
let mid = DMatrix::<f64>::new_random(n, n); let mid = DMatrix::<f64>::new_random(n, n);
let mut res = DMatrix::new_random(6, 6); let mut res = DMatrix::new_random(6, 6);
@ -121,9 +114,7 @@ mod blas_quickcheck {
res.quadform_tr(alpha, &lhs, &mid , beta); res.quadform_tr(alpha, &lhs, &mid , beta);
println!("{}{}", res, expected); prop_assert!(relative_eq!(res, expected, epsilon = 1.0e-7))
relative_eq!(res, expected, epsilon = 1.0e-7)
} }
} }
} }

172
tests/core/conversion.rs
View File

@ -1,44 +1,49 @@
#![cfg(all(feature = "arbitrary", feature = "alga"))] #![cfg(all(feature = "proptest-support", feature = "alga"))]
use alga::linear::Transformation; use alga::linear::Transformation;
use na::{ use na::{
self, Affine3, Isometry3, Matrix2, Matrix2x3, Matrix2x4, Matrix2x5, Matrix2x6, Matrix3, self, Affine3, Isometry3, Matrix2, Matrix2x3, Matrix2x4, Matrix2x5, Matrix2x6, Matrix3,
Matrix3x2, Matrix3x4, Matrix3x5, Matrix3x6, Matrix4, Matrix4x2, Matrix4x3, Matrix4x5, Matrix3x2, Matrix3x4, Matrix3x5, Matrix3x6, Matrix4, Matrix4x2, Matrix4x3, Matrix4x5,
Matrix4x6, Matrix5, Matrix5x2, Matrix5x3, Matrix5x4, Matrix5x6, Matrix6, Matrix6x2, Matrix6x3, Matrix4x6, Matrix5, Matrix5x2, Matrix5x3, Matrix5x4, Matrix5x6, Matrix6, Matrix6x2, Matrix6x3,
Matrix6x4, Matrix6x5, Point3, Projective3, Rotation3, RowVector1, RowVector2, RowVector3, Matrix6x4, Matrix6x5, Projective3, Rotation3, RowVector1, RowVector2, RowVector3, RowVector4,
RowVector4, RowVector5, RowVector6, Similarity3, Transform3, Translation3, UnitQuaternion, RowVector5, RowVector6, Similarity3, Transform3, UnitQuaternion, Vector1, Vector2, Vector3,
Vector1, Vector2, Vector3, Vector4, Vector5, Vector6, Vector4, Vector5, Vector6,
}; };
use na::{DMatrix, DMatrixSlice, DMatrixSliceMut, MatrixSlice, MatrixSliceMut}; use na::{DMatrix, DMatrixSlice, DMatrixSliceMut, MatrixSlice, MatrixSliceMut};
use na::{U1, U3, U4}; use na::{U1, U3, U4};
quickcheck! { use crate::proptest::*;
fn translation_conversion(t: Translation3<f64>, v: Vector3<f64>, p: Point3<f64>) -> bool { use proptest::{prop_assert, prop_assert_eq, proptest};
proptest! {
#[test]
fn translation_conversion(t in translation3(), v in vector3(), p in point3()) {
let iso: Isometry3<f64> = na::convert(t); let iso: Isometry3<f64> = na::convert(t);
let sim: Similarity3<f64> = na::convert(t); let sim: Similarity3<f64> = na::convert(t);
let aff: Affine3<f64> = na::convert(t); let aff: Affine3<f64> = na::convert(t);
let prj: Projective3<f64> = na::convert(t); let prj: Projective3<f64> = na::convert(t);
let tr: Transform3<f64> = na::convert(t); let tr: Transform3<f64> = na::convert(t);
t == na::try_convert(iso).unwrap() && prop_assert_eq!(t, na::try_convert(iso).unwrap());
t == na::try_convert(sim).unwrap() && prop_assert_eq!(t, na::try_convert(sim).unwrap());
t == na::try_convert(aff).unwrap() && prop_assert_eq!(t, na::try_convert(aff).unwrap());
t == na::try_convert(prj).unwrap() && prop_assert_eq!(t, na::try_convert(prj).unwrap());
t == na::try_convert(tr).unwrap() && prop_assert_eq!(t, na::try_convert(tr).unwrap() );
t.transform_vector(&v) == iso * v && prop_assert_eq!(t.transform_vector(&v), iso * v);
t.transform_vector(&v) == sim * v && prop_assert_eq!(t.transform_vector(&v), sim * v);
t.transform_vector(&v) == aff * v && prop_assert_eq!(t.transform_vector(&v), aff * v);
t.transform_vector(&v) == prj * v && prop_assert_eq!(t.transform_vector(&v), prj * v);
t.transform_vector(&v) == tr * v && prop_assert_eq!(t.transform_vector(&v), tr * v);
t * p == iso * p && prop_assert_eq!(t * p, iso * p);
t * p == sim * p && prop_assert_eq!(t * p, sim * p);
t * p == aff * p && prop_assert_eq!(t * p, aff * p);
t * p == prj * p && prop_assert_eq!(t * p, prj * p);
t * p == tr * p prop_assert_eq!(t * p, tr * p);
} }
fn rotation_conversion(r: Rotation3<f64>, v: Vector3<f64>, p: Point3<f64>) -> bool { #[test]
fn rotation_conversion(r in rotation3(), v in vector3(), p in point3()) {
let uq: UnitQuaternion<f64> = na::convert(r); let uq: UnitQuaternion<f64> = na::convert(r);
let iso: Isometry3<f64> = na::convert(r); let iso: Isometry3<f64> = na::convert(r);
let sim: Similarity3<f64> = na::convert(r); let sim: Similarity3<f64> = na::convert(r);
@ -46,30 +51,31 @@ quickcheck! {
let prj: Projective3<f64> = na::convert(r); let prj: Projective3<f64> = na::convert(r);
let tr: Transform3<f64> = na::convert(r); let tr: Transform3<f64> = na::convert(r);
relative_eq!(r, na::try_convert(uq).unwrap(), epsilon = 1.0e-7) && prop_assert!(relative_eq!(r, na::try_convert(uq).unwrap(), epsilon = 1.0e-7));
relative_eq!(r, na::try_convert(iso).unwrap(), epsilon = 1.0e-7) && prop_assert!(relative_eq!(r, na::try_convert(iso).unwrap(), epsilon = 1.0e-7));
relative_eq!(r, na::try_convert(sim).unwrap(), epsilon = 1.0e-7) && prop_assert!(relative_eq!(r, na::try_convert(sim).unwrap(), epsilon = 1.0e-7));
r == na::try_convert(aff).unwrap() && prop_assert_eq!(r, na::try_convert(aff).unwrap());
r == na::try_convert(prj).unwrap() && prop_assert_eq!(r, na::try_convert(prj).unwrap());
r == na::try_convert(tr).unwrap() && prop_assert_eq!(r, na::try_convert(tr).unwrap() );
// NOTE: we need relative_eq because Isometry and Similarity use quaternions. // NOTE: we need relative_eq because Isometry and Similarity use quaternions.
relative_eq!(r * v, uq * v, epsilon = 1.0e-7) && prop_assert!(relative_eq!(r * v, uq * v, epsilon = 1.0e-7));
relative_eq!(r * v, iso * v, epsilon = 1.0e-7) && prop_assert!(relative_eq!(r * v, iso * v, epsilon = 1.0e-7));
relative_eq!(r * v, sim * v, epsilon = 1.0e-7) && prop_assert!(relative_eq!(r * v, sim * v, epsilon = 1.0e-7));
r * v == aff * v && prop_assert_eq!(r * v, aff * v);
r * v == prj * v && prop_assert_eq!(r * v, prj * v);
r * v == tr * v && prop_assert_eq!(r * v, tr * v);
relative_eq!(r * p, uq * p, epsilon = 1.0e-7) && prop_assert!(relative_eq!(r * p, uq * p, epsilon = 1.0e-7));
relative_eq!(r * p, iso * p, epsilon = 1.0e-7) && prop_assert!(relative_eq!(r * p, iso * p, epsilon = 1.0e-7));
relative_eq!(r * p, sim * p, epsilon = 1.0e-7) && prop_assert!(relative_eq!(r * p, sim * p, epsilon = 1.0e-7));
r * p == aff * p && prop_assert_eq!(r * p, aff * p);
r * p == prj * p && prop_assert_eq!(r * p, prj * p);
r * p == tr * p prop_assert_eq!(r * p, tr * p);
} }
fn unit_quaternion_conversion(uq: UnitQuaternion<f64>, v: Vector3<f64>, p: Point3<f64>) -> bool { #[test]
fn unit_quaternion_conversion(uq in unit_quaternion(), v in vector3(), p in point3()) {
let rot: Rotation3<f64> = na::convert(uq); let rot: Rotation3<f64> = na::convert(uq);
let iso: Isometry3<f64> = na::convert(uq); let iso: Isometry3<f64> = na::convert(uq);
let sim: Similarity3<f64> = na::convert(uq); let sim: Similarity3<f64> = na::convert(uq);
@ -77,68 +83,70 @@ quickcheck! {
let prj: Projective3<f64> = na::convert(uq); let prj: Projective3<f64> = na::convert(uq);
let tr: Transform3<f64> = na::convert(uq); let tr: Transform3<f64> = na::convert(uq);
uq == na::try_convert(iso).unwrap() && prop_assert_eq!(uq, na::try_convert(iso).unwrap());
uq == na::try_convert(sim).unwrap() && prop_assert_eq!(uq, na::try_convert(sim).unwrap());
relative_eq!(uq, na::try_convert(rot).unwrap(), epsilon = 1.0e-7) && prop_assert!(relative_eq!(uq, na::try_convert(rot).unwrap(), epsilon = 1.0e-7));
relative_eq!(uq, na::try_convert(aff).unwrap(), epsilon = 1.0e-7) && prop_assert!(relative_eq!(uq, na::try_convert(aff).unwrap(), epsilon = 1.0e-7));
relative_eq!(uq, na::try_convert(prj).unwrap(), epsilon = 1.0e-7) && prop_assert!(relative_eq!(uq, na::try_convert(prj).unwrap(), epsilon = 1.0e-7));
relative_eq!(uq, na::try_convert(tr).unwrap(), epsilon = 1.0e-7) && prop_assert!(relative_eq!(uq, na::try_convert(tr).unwrap(), epsilon = 1.0e-7) );
// NOTE: iso and sim use unit quaternions for the rotation so conversions to them are exact. // NOTE: iso and sim use unit quaternions for the rotation so conversions to them are exact.
relative_eq!(uq * v, rot * v, epsilon = 1.0e-7) && prop_assert!(relative_eq!(uq * v, rot * v, epsilon = 1.0e-7));
uq * v == iso * v && prop_assert_eq!(uq * v, iso * v);
uq * v == sim * v && prop_assert_eq!(uq * v, sim * v);
relative_eq!(uq * v, aff * v, epsilon = 1.0e-7) && prop_assert!(relative_eq!(uq * v, aff * v, epsilon = 1.0e-7));
relative_eq!(uq * v, prj * v, epsilon = 1.0e-7) && prop_assert!(relative_eq!(uq * v, prj * v, epsilon = 1.0e-7));
relative_eq!(uq * v, tr * v, epsilon = 1.0e-7) && prop_assert!(relative_eq!(uq * v, tr * v, epsilon = 1.0e-7));
relative_eq!(uq * p, rot * p, epsilon = 1.0e-7) && prop_assert!(relative_eq!(uq * p, rot * p, epsilon = 1.0e-7));
uq * p == iso * p && prop_assert_eq!(uq * p, iso * p);
uq * p == sim * p && prop_assert_eq!(uq * p, sim * p);
relative_eq!(uq * p, aff * p, epsilon = 1.0e-7) && prop_assert!(relative_eq!(uq * p, aff * p, epsilon = 1.0e-7));
relative_eq!(uq * p, prj * p, epsilon = 1.0e-7) && prop_assert!(relative_eq!(uq * p, prj * p, epsilon = 1.0e-7));
relative_eq!(uq * p, tr * p, epsilon = 1.0e-7) prop_assert!(relative_eq!(uq * p, tr * p, epsilon = 1.0e-7));
} }
fn isometry_conversion(iso: Isometry3<f64>, v: Vector3<f64>, p: Point3<f64>) -> bool { #[test]
fn isometry_conversion(iso in isometry3(), v in vector3(), p in point3()) {
let sim: Similarity3<f64> = na::convert(iso); let sim: Similarity3<f64> = na::convert(iso);
let aff: Affine3<f64> = na::convert(iso); let aff: Affine3<f64> = na::convert(iso);
let prj: Projective3<f64> = na::convert(iso); let prj: Projective3<f64> = na::convert(iso);
let tr: Transform3<f64> = na::convert(iso); let tr: Transform3<f64> = na::convert(iso);
iso == na::try_convert(sim).unwrap() && prop_assert_eq!(iso, na::try_convert(sim).unwrap());
relative_eq!(iso, na::try_convert(aff).unwrap(), epsilon = 1.0e-7) && prop_assert!(relative_eq!(iso, na::try_convert(aff).unwrap(), epsilon = 1.0e-7));
relative_eq!(iso, na::try_convert(prj).unwrap(), epsilon = 1.0e-7) && prop_assert!(relative_eq!(iso, na::try_convert(prj).unwrap(), epsilon = 1.0e-7));
relative_eq!(iso, na::try_convert(tr).unwrap(), epsilon = 1.0e-7) && prop_assert!(relative_eq!(iso, na::try_convert(tr).unwrap(), epsilon = 1.0e-7) );
iso * v == sim * v && prop_assert_eq!(iso * v, sim * v);
relative_eq!(iso * v, aff * v, epsilon = 1.0e-7) && prop_assert!(relative_eq!(iso * v, aff * v, epsilon = 1.0e-7));
relative_eq!(iso * v, prj * v, epsilon = 1.0e-7) && prop_assert!(relative_eq!(iso * v, prj * v, epsilon = 1.0e-7));
relative_eq!(iso * v, tr * v, epsilon = 1.0e-7) && prop_assert!(relative_eq!(iso * v, tr * v, epsilon = 1.0e-7));
iso * p == sim * p && prop_assert_eq!(iso * p, sim * p);
relative_eq!(iso * p, aff * p, epsilon = 1.0e-7) && prop_assert!(relative_eq!(iso * p, aff * p, epsilon = 1.0e-7));
relative_eq!(iso * p, prj * p, epsilon = 1.0e-7) && prop_assert!(relative_eq!(iso * p, prj * p, epsilon = 1.0e-7));
relative_eq!(iso * p, tr * p, epsilon = 1.0e-7) prop_assert!(relative_eq!(iso * p, tr * p, epsilon = 1.0e-7));
} }
fn similarity_conversion(sim: Similarity3<f64>, v: Vector3<f64>, p: Point3<f64>) -> bool { #[test]
fn similarity_conversion(sim in similarity3(), v in vector3(), p in point3()) {
let aff: Affine3<f64> = na::convert(sim); let aff: Affine3<f64> = na::convert(sim);
let prj: Projective3<f64> = na::convert(sim); let prj: Projective3<f64> = na::convert(sim);
let tr: Transform3<f64> = na::convert(sim); let tr: Transform3<f64> = na::convert(sim);
relative_eq!(sim, na::try_convert(aff).unwrap(), epsilon = 1.0e-7) && prop_assert!(relative_eq!(sim, na::try_convert(aff).unwrap(), epsilon = 1.0e-7));
relative_eq!(sim, na::try_convert(prj).unwrap(), epsilon = 1.0e-7) && prop_assert!(relative_eq!(sim, na::try_convert(prj).unwrap(), epsilon = 1.0e-7));
relative_eq!(sim, na::try_convert(tr).unwrap(), epsilon = 1.0e-7) && prop_assert!(relative_eq!(sim, na::try_convert(tr).unwrap(), epsilon = 1.0e-7));
relative_eq!(sim * v, aff * v, epsilon = 1.0e-7) && prop_assert!(relative_eq!(sim * v, aff * v, epsilon = 1.0e-7));
relative_eq!(sim * v, prj * v, epsilon = 1.0e-7) && prop_assert!(relative_eq!(sim * v, prj * v, epsilon = 1.0e-7));
relative_eq!(sim * v, tr * v, epsilon = 1.0e-7) && prop_assert!(relative_eq!(sim * v, tr * v, epsilon = 1.0e-7));
relative_eq!(sim * p, aff * p, epsilon = 1.0e-7) && prop_assert!(relative_eq!(sim * p, aff * p, epsilon = 1.0e-7));
relative_eq!(sim * p, prj * p, epsilon = 1.0e-7) && prop_assert!(relative_eq!(sim * p, prj * p, epsilon = 1.0e-7));
relative_eq!(sim * p, tr * p, epsilon = 1.0e-7) prop_assert!(relative_eq!(sim * p, tr * p, epsilon = 1.0e-7));
} }
// XXX test Transform // XXX test Transform

4
tests/core/helper.rs
View File

@ -12,7 +12,7 @@ pub struct RandComplex<N>(pub Complex<N>);
impl<N: Arbitrary + RealField> Arbitrary for RandComplex<N> { impl<N: Arbitrary + RealField> Arbitrary for RandComplex<N> {
#[inline] #[inline]
fn arbitrary<G: Gen>(rng: &mut G) -> Self { fn arbitrary(rng: &mut Gen) -> Self {
let im = Arbitrary::arbitrary(rng); let im = Arbitrary::arbitrary(rng);
let re = Arbitrary::arbitrary(rng); let re = Arbitrary::arbitrary(rng);
RandComplex(Complex::new(re, im)) RandComplex(Complex::new(re, im))
@ -38,7 +38,7 @@ pub struct RandScalar<N>(pub N);
impl<N: Arbitrary> Arbitrary for RandScalar<N> { impl<N: Arbitrary> Arbitrary for RandScalar<N> {
#[inline] #[inline]
fn arbitrary<G: Gen>(rng: &mut G) -> Self { fn arbitrary(rng: &mut Gen) -> Self {
RandScalar(Arbitrary::arbitrary(rng)) RandScalar(Arbitrary::arbitrary(rng))
} }
} }

173
tests/core/matrix.rs
View File

@ -829,151 +829,145 @@ fn swizzle() {
assert_eq!(c.zyz(), Vector3::new(3.0, 2.0, 3.0)); assert_eq!(c.zyz(), Vector3::new(3.0, 2.0, 3.0));
} }
#[cfg(feature = "arbitrary")] #[cfg(feature = "proptest-support")]
mod transposition_tests { mod transposition_tests {
use super::*; use super::*;
use na::Matrix4x6; use crate::proptest::{dmatrix, matrix, vector4, PROPTEST_F64};
use na::{U2, U3, U4, U6};
use proptest::{prop_assert, prop_assert_eq, proptest};
quickcheck! { proptest! {
fn transpose_transpose_is_self(m: Matrix2x3<f64>) -> bool { #[test]
m.transpose().transpose() == m fn transpose_transpose_is_self(m in matrix(PROPTEST_F64, U2, U3)) {
prop_assert_eq!(m.transpose().transpose(), m)
} }
fn transpose_mut_transpose_mut_is_self(m: Matrix3<f64>) -> bool { #[test]
fn transpose_mut_transpose_mut_is_self(m in matrix(PROPTEST_F64, U3, U3)) {
let mut mm = m; let mut mm = m;
mm.transpose_mut(); mm.transpose_mut();
mm.transpose_mut(); mm.transpose_mut();
m == mm prop_assert_eq!(m, mm)
} }
fn transpose_transpose_is_id_dyn(m: DMatrix<f64>) -> bool { #[test]
m.transpose().transpose() == m fn transpose_transpose_is_id_dyn(m in dmatrix()) {
prop_assert_eq!(m.transpose().transpose(), m)
} }
fn check_transpose_components_dyn(m: DMatrix<f64>) -> bool { #[test]
fn check_transpose_components_dyn(m in dmatrix()) {
let tr = m.transpose(); let tr = m.transpose();
let (nrows, ncols) = m.shape(); let (nrows, ncols) = m.shape();
if nrows != tr.shape().1 || ncols != tr.shape().0 { prop_assert!(nrows == tr.shape().1 && ncols == tr.shape().0);
return false
}
for i in 0 .. nrows { for i in 0 .. nrows {
for j in 0 .. ncols { for j in 0 .. ncols {
if m[(i, j)] != tr[(j, i)] { prop_assert_eq!(m[(i, j)], tr[(j, i)]);
return false
}
} }
} }
true
} }
fn tr_mul_is_transpose_then_mul(m: Matrix4x6<f64>, v: Vector4<f64>) -> bool { #[test]
relative_eq!(m.transpose() * v, m.tr_mul(&v), epsilon = 1.0e-7) fn tr_mul_is_transpose_then_mul(m in matrix(PROPTEST_F64, U4, U6), v in vector4()) {
prop_assert!(relative_eq!(m.transpose() * v, m.tr_mul(&v), epsilon = 1.0e-7))
} }
} }
} }
#[cfg(feature = "arbitrary")] #[cfg(feature = "proptest-support")]
mod inversion_tests { mod inversion_tests {
use super::*; use super::*;
use crate::proptest::*;
use na::Matrix1; use na::Matrix1;
use proptest::{prop_assert, proptest};
quickcheck! { proptest! {
fn self_mul_inv_is_id_dim1(m: Matrix1<f64>) -> bool { #[test]
fn self_mul_inv_is_id_dim1(m in matrix1()) {
if let Some(im) = m.try_inverse() { if let Some(im) = m.try_inverse() {
let id = Matrix1::one(); let id = Matrix1::one();
relative_eq!(im * m, id, epsilon = 1.0e-7) && prop_assert!(relative_eq!(im * m, id, epsilon = 1.0e-7));
relative_eq!(m * im, id, epsilon = 1.0e-7) prop_assert!(relative_eq!(m * im, id, epsilon = 1.0e-7));
}
else {
true
} }
} }
fn self_mul_inv_is_id_dim2(m: Matrix2<f64>) -> bool { #[test]
fn self_mul_inv_is_id_dim2(m in matrix2()) {
if let Some(im) = m.try_inverse() { if let Some(im) = m.try_inverse() {
let id = Matrix2::one(); let id = Matrix2::one();
relative_eq!(im * m, id, epsilon = 1.0e-7) && prop_assert!(relative_eq!(im * m, id, epsilon = 1.0e-7));
relative_eq!(m * im, id, epsilon = 1.0e-7) prop_assert!(relative_eq!(m * im, id, epsilon = 1.0e-7));
}
else {
true
} }
} }
fn self_mul_inv_is_id_dim3(m: Matrix3<f64>) -> bool { #[test]
fn self_mul_inv_is_id_dim3(m in matrix3()) {
if let Some(im) = m.try_inverse() { if let Some(im) = m.try_inverse() {
let id = Matrix3::one(); let id = Matrix3::one();
relative_eq!(im * m, id, epsilon = 1.0e-7) && prop_assert!(relative_eq!(im * m, id, epsilon = 1.0e-7));
relative_eq!(m * im, id, epsilon = 1.0e-7) prop_assert!(relative_eq!(m * im, id, epsilon = 1.0e-7));
}
else {
true
} }
} }
fn self_mul_inv_is_id_dim4(m: Matrix4<f64>) -> bool { #[test]
fn self_mul_inv_is_id_dim4(m in matrix4()) {
if let Some(im) = m.try_inverse() { if let Some(im) = m.try_inverse() {
let id = Matrix4::one(); let id = Matrix4::one();
relative_eq!(im * m, id, epsilon = 1.0e-7) && prop_assert!(relative_eq!(im * m, id, epsilon = 1.0e-7));
relative_eq!(m * im, id, epsilon = 1.0e-7) prop_assert!(relative_eq!(m * im, id, epsilon = 1.0e-7));
}
else {
true
} }
} }
fn self_mul_inv_is_id_dim6(m: Matrix6<f64>) -> bool { #[test]
fn self_mul_inv_is_id_dim6(m in matrix6()) {
if let Some(im) = m.try_inverse() { if let Some(im) = m.try_inverse() {
let id = Matrix6::one(); let id = Matrix6::one();
relative_eq!(im * m, id, epsilon = 1.0e-7) && prop_assert!(relative_eq!(im * m, id, epsilon = 1.0e-7));
relative_eq!(m * im, id, epsilon = 1.0e-7) prop_assert!(relative_eq!(m * im, id, epsilon = 1.0e-7));
}
else {
true
} }
} }
} }
} }
#[cfg(feature = "arbitrary")] #[cfg(feature = "proptest-support")]
mod normalization_tests { mod normalization_tests {
use super::*; use crate::proptest::*;
use proptest::{prop_assert, proptest};
quickcheck! { proptest! {
fn normalized_vec_norm_is_one(v: Vector3<f64>) -> bool { #[test]
fn normalized_vec_norm_is_one(v in vector3()) {
if let Some(nv) = v.try_normalize(1.0e-10) { if let Some(nv) = v.try_normalize(1.0e-10) {
relative_eq!(nv.norm(), 1.0, epsilon = 1.0e-7) prop_assert!(relative_eq!(nv.norm(), 1.0, epsilon = 1.0e-7));
}
else {
true
} }
} }
fn normalized_vec_norm_is_one_dyn(v: DVector<f64>) -> bool { #[test]
fn normalized_vec_norm_is_one_dyn(v in dvector()) {
if let Some(nv) = v.try_normalize(1.0e-10) { if let Some(nv) = v.try_normalize(1.0e-10) {
relative_eq!(nv.norm(), 1.0, epsilon = 1.0e-7) prop_assert!(relative_eq!(nv.norm(), 1.0, epsilon = 1.0e-7));
}
else {
true
} }
} }
} }
} }
#[cfg(all(feature = "arbitrary", feature = "alga"))] #[cfg(all(feature = "proptest-support", feature = "alga"))]
// TODO: move this to alga ? // TODO: move this to alga ?
mod finite_dim_inner_space_tests { mod finite_dim_inner_space_tests {
use super::*; use super::*;
use crate::proptest::*;
use alga::linear::FiniteDimInnerSpace; use alga::linear::FiniteDimInnerSpace;
use proptest::collection::vec;
use proptest::{prop_assert, proptest};
use std::fmt::Display; use std::fmt::Display;
macro_rules! finite_dim_inner_space_test( macro_rules! finite_dim_inner_space_test(
($($Vector: ident, $orthonormal_subspace: ident, $orthonormalization: ident);* $(;)*) => {$( ($($Vector: ident, $vstrategy: ident, $orthonormal_subspace: ident, $orthonormalization: ident);* $(;)*) => {$(
quickcheck!{ proptest! {
fn $orthonormal_subspace(vs: Vec<$Vector<f64>>) -> bool { #[test]
fn $orthonormal_subspace(vs in vec($vstrategy(), 0..10)) {
let mut given_basis = vs.clone(); let mut given_basis = vs.clone();
let given_basis_dim = $Vector::orthonormalize(&mut given_basis[..]); let given_basis_dim = $Vector::orthonormalize(&mut given_basis[..]);
let mut ortho_basis = Vec::new(); let mut ortho_basis = Vec::new();
@ -982,29 +976,21 @@ mod finite_dim_inner_space_tests {
|e| { ortho_basis.push(*e); true } |e| { ortho_basis.push(*e); true }
); );
if !is_subspace_basis(&ortho_basis[..]) { prop_assert!(is_subspace_basis(&ortho_basis[..]));
return false;
}
for v in vs { for v in vs {
for b in &ortho_basis { for b in &ortho_basis {
if !relative_eq!(v.dot(b), 0.0, epsilon = 1.0e-7) { prop_assert!(relative_eq!(v.dot(b), 0.0, epsilon = 1.0e-7));
println!("Found dot product: {} · {} = {}", v, b, v.dot(b));
return false;
}
} }
} }
true
} }
fn $orthonormalization(vs: Vec<$Vector<f64>>) -> bool { #[test]
fn $orthonormalization(vs in vec($vstrategy(), 0..10)) {
let mut basis = vs.clone(); let mut basis = vs.clone();
let subdim = $Vector::orthonormalize(&mut basis[..]); let subdim = $Vector::orthonormalize(&mut basis[..]);
if !is_subspace_basis(&basis[.. subdim]) { prop_assert!(is_subspace_basis(&basis[.. subdim]));
return false;
}
for mut e in vs { for mut e in vs {
for b in &basis[.. subdim] { for b in &basis[.. subdim] {
@ -1012,26 +998,20 @@ mod finite_dim_inner_space_tests {
} }
// Any element of `e` must be a linear combination of the basis elements. // Any element of `e` must be a linear combination of the basis elements.
if !relative_eq!(e.norm(), 0.0, epsilon = 1.0e-7) { prop_assert!(relative_eq!(e.norm(), 0.0, epsilon = 1.0e-7));
println!("Orthonormalization; element decomposition failure: {}", e);
println!("... the non-zero norm is: {}", e.norm());
return false;
}
} }
true
} }
} }
)*} )*}
); );
finite_dim_inner_space_test!( finite_dim_inner_space_test!(
Vector1, orthonormal_subspace_basis1, orthonormalize1; Vector1, vector1, orthonormal_subspace_basis1, orthonormalize1;
Vector2, orthonormal_subspace_basis2, orthonormalize2; Vector2, vector2, orthonormal_subspace_basis2, orthonormalize2;
Vector3, orthonormal_subspace_basis3, orthonormalize3; Vector3, vector3, orthonormal_subspace_basis3, orthonormalize3;
Vector4, orthonormal_subspace_basis4, orthonormalize4; Vector4, vector4, orthonormal_subspace_basis4, orthonormalize4;
Vector5, orthonormal_subspace_basis5, orthonormalize5; Vector5, vector5, orthonormal_subspace_basis5, orthonormalize5;
Vector6, orthonormal_subspace_basis6, orthonormalize6; Vector6, vector6, orthonormal_subspace_basis6, orthonormalize6;
); );
/* /*
@ -1039,7 +1019,6 @@ mod finite_dim_inner_space_tests {
* Helper functions. * Helper functions.
* *
*/ */
#[cfg(feature = "arbitrary")]
fn is_subspace_basis<T: FiniteDimInnerSpace<RealField = f64, ComplexField = f64> + Display>( fn is_subspace_basis<T: FiniteDimInnerSpace<RealField = f64, ComplexField = f64> + Display>(
vs: &[T], vs: &[T],
) -> bool { ) -> bool {

36
tests/core/matrixcompare.rs
View File

@ -4,34 +4,32 @@
//! The tests here only check that the necessary trait implementations are correctly implemented, //! The tests here only check that the necessary trait implementations are correctly implemented,
//! in addition to some sanity checks with example input. //! in addition to some sanity checks with example input.
use matrixcompare::assert_matrix_eq;
use nalgebra::{MatrixMN, U4, U5}; use nalgebra::{MatrixMN, U4, U5};
#[cfg(feature = "arbitrary")] #[cfg(feature = "proptest-support")]
use nalgebra::DMatrix; use {
crate::proptest::*,
matrixcompare::DenseAccess,
nalgebra::DMatrix,
proptest::{prop_assert_eq, proptest},
};
use matrixcompare::assert_matrix_eq; #[cfg(feature = "proptest-support")]
proptest! {
#[cfg(feature = "arbitrary")] #[test]
use matrixcompare::DenseAccess; fn fetch_single_is_equivalent_to_index_f64(matrix in dmatrix()) {
#[cfg(feature = "arbitrary")]
quickcheck! {
fn fetch_single_is_equivalent_to_index_f64(matrix: DMatrix<f64>) -> bool {
for i in 0 .. matrix.nrows() { for i in 0 .. matrix.nrows() {
for j in 0 .. matrix.ncols() { for j in 0 .. matrix.ncols() {
if matrix.fetch_single(i, j) != *matrix.index((i, j)) { prop_assert_eq!(matrix.fetch_single(i, j), *matrix.index((i, j)));
return false;
}
} }
} }
true
} }
fn matrixcompare_shape_agrees_with_matrix(matrix: DMatrix<f64>) -> bool { #[test]
matrix.nrows() == <DMatrix<f64> as matrixcompare::Matrix<f64>>::rows(&matrix) fn matrixcompare_shape_agrees_with_matrix(matrix in dmatrix()) {
&& prop_assert_eq!(matrix.nrows(), <DMatrix<f64> as matrixcompare::Matrix<f64>>::rows(&matrix));
matrix.ncols() == <DMatrix<f64> as matrixcompare::Matrix<f64>>::cols(&matrix) prop_assert_eq!(matrix.ncols(), <DMatrix<f64> as matrixcompare::Matrix<f64>>::cols(&matrix));
} }
} }

88
tests/geometry/dual_quaternion.rs
View File

@ -1,36 +1,40 @@
#![cfg(feature = "arbitrary")] #![cfg(feature = "proptest-support")]
#![allow(non_snake_case)] #![allow(non_snake_case)]
use na::{ use na::{DualQuaternion, Point3, UnitDualQuaternion, Vector3};
DualQuaternion, Isometry3, Point3, Translation3, UnitDualQuaternion, UnitQuaternion, Vector3,
};
quickcheck!( use crate::proptest::*;
fn isometry_equivalence(iso: Isometry3<f64>, p: Point3<f64>, v: Vector3<f64>) -> bool { use proptest::{prop_assert, proptest};
proptest!(
#[test]
fn isometry_equivalence(iso in isometry3(), p in point3(), v in vector3()) {
let dq = UnitDualQuaternion::from_isometry(&iso); let dq = UnitDualQuaternion::from_isometry(&iso);
relative_eq!(iso * p, dq * p, epsilon = 1.0e-7) prop_assert!(relative_eq!(iso * p, dq * p, epsilon = 1.0e-7));
&& relative_eq!(iso * v, dq * v, epsilon = 1.0e-7) prop_assert!(relative_eq!(iso * v, dq * v, epsilon = 1.0e-7));
} }
fn inverse_is_identity(i: UnitDualQuaternion<f64>, p: Point3<f64>, v: Vector3<f64>) -> bool { #[test]
fn inverse_is_identity(i in unit_dual_quaternion(), p in point3(), v in vector3()) {
let ii = i.inverse(); let ii = i.inverse();
relative_eq!(i * ii, UnitDualQuaternion::identity(), epsilon = 1.0e-7) prop_assert!(relative_eq!(i * ii, UnitDualQuaternion::identity(), epsilon = 1.0e-7)
&& relative_eq!(ii * i, UnitDualQuaternion::identity(), epsilon = 1.0e-7) && relative_eq!(ii * i, UnitDualQuaternion::identity(), epsilon = 1.0e-7)
&& relative_eq!((i * ii) * p, p, epsilon = 1.0e-7) && relative_eq!((i * ii) * p, p, epsilon = 1.0e-7)
&& relative_eq!((ii * i) * p, p, epsilon = 1.0e-7) && relative_eq!((ii * i) * p, p, epsilon = 1.0e-7)
&& relative_eq!((i * ii) * v, v, epsilon = 1.0e-7) && relative_eq!((i * ii) * v, v, epsilon = 1.0e-7)
&& relative_eq!((ii * i) * v, v, epsilon = 1.0e-7) && relative_eq!((ii * i) * v, v, epsilon = 1.0e-7));
} }
#[cfg_attr(rustfmt, rustfmt_skip)] #[cfg_attr(rustfmt, rustfmt_skip)]
#[test]
fn multiply_equals_alga_transform( fn multiply_equals_alga_transform(
dq: UnitDualQuaternion<f64>, dq in unit_dual_quaternion(),
v: Vector3<f64>, v in vector3(),
p: Point3<f64> p in point3()
) -> bool { ) {
dq * v == dq.transform_vector(&v) prop_assert!(dq * v == dq.transform_vector(&v)
&& dq * p == dq.transform_point(&p) && dq * p == dq.transform_point(&p)
&& relative_eq!( && relative_eq!(
dq.inverse() * v, dq.inverse() * v,
@ -41,44 +45,46 @@ quickcheck!(
dq.inverse() * p, dq.inverse() * p,
dq.inverse_transform_point(&p), dq.inverse_transform_point(&p),
epsilon = 1.0e-7 epsilon = 1.0e-7
) ));
} }
#[cfg_attr(rustfmt, rustfmt_skip)] #[cfg_attr(rustfmt, rustfmt_skip)]
#[test]
fn composition( fn composition(
dq: UnitDualQuaternion<f64>, dq in unit_dual_quaternion(),
uq: UnitQuaternion<f64>, uq in unit_quaternion(),
t: Translation3<f64>, t in translation3(),
v: Vector3<f64>, v in vector3(),
p: Point3<f64> p in point3()
) -> bool { ) {
// (rotation × dual quaternion) * point = rotation × (dual quaternion * point) // (rotation × dual quaternion) * point = rotation × (dual quaternion * point)
relative_eq!((uq * dq) * v, uq * (dq * v), epsilon = 1.0e-7) && prop_assert!(relative_eq!((uq * dq) * v, uq * (dq * v), epsilon = 1.0e-7));
relative_eq!((uq * dq) * p, uq * (dq * p), epsilon = 1.0e-7) && prop_assert!(relative_eq!((uq * dq) * p, uq * (dq * p), epsilon = 1.0e-7));
// (dual quaternion × rotation) * point = dual quaternion × (rotation * point) // (dual quaternion × rotation) * point = dual quaternion × (rotation * point)
relative_eq!((dq * uq) * v, dq * (uq * v), epsilon = 1.0e-7) && prop_assert!(relative_eq!((dq * uq) * v, dq * (uq * v), epsilon = 1.0e-7));
relative_eq!((dq * uq) * p, dq * (uq * p), epsilon = 1.0e-7) && prop_assert!(relative_eq!((dq * uq) * p, dq * (uq * p), epsilon = 1.0e-7));
// (translation × dual quaternion) * point = translation × (dual quaternion * point) // (translation × dual quaternion) * point = translation × (dual quaternion * point)
relative_eq!((t * dq) * v, (dq * v), epsilon = 1.0e-7) && prop_assert!(relative_eq!((t * dq) * v, (dq * v), epsilon = 1.0e-7));
relative_eq!((t * dq) * p, t * (dq * p), epsilon = 1.0e-7) && prop_assert!(relative_eq!((t * dq) * p, t * (dq * p), epsilon = 1.0e-7));
// (dual quaternion × translation) * point = dual quaternion × (translation * point) // (dual quaternion × translation) * point = dual quaternion × (translation * point)
relative_eq!((dq * t) * v, dq * v, epsilon = 1.0e-7) && prop_assert!(relative_eq!((dq * t) * v, dq * v, epsilon = 1.0e-7));
relative_eq!((dq * t) * p, dq * (t * p), epsilon = 1.0e-7) prop_assert!(relative_eq!((dq * t) * p, dq * (t * p), epsilon = 1.0e-7));
} }
#[cfg_attr(rustfmt, rustfmt_skip)] #[cfg_attr(rustfmt, rustfmt_skip)]
#[test]
fn all_op_exist( fn all_op_exist(
dq: DualQuaternion<f64>, dq in dual_quaternion(),
udq: UnitDualQuaternion<f64>, udq in unit_dual_quaternion(),
uq: UnitQuaternion<f64>, uq in unit_quaternion(),
s: f64, s in PROPTEST_F64,
t: Translation3<f64>, t in translation3(),
v: Vector3<f64>, v in vector3(),
p: Point3<f64> p in point3()
) -> bool { ) {
let dqMs: DualQuaternion<_> = dq * s; let dqMs: DualQuaternion<_> = dq * s;
let dqMdq: DualQuaternion<_> = dq * dq; let dqMdq: DualQuaternion<_> = dq * dq;
@ -145,7 +151,7 @@ quickcheck!(
iDuq1 /= uq; iDuq1 /= uq;
iDuq2 /= &uq; iDuq2 /= &uq;
dqMs == dqMs1 prop_assert!(dqMs == dqMs1
&& dqMdq == dqMdq1 && dqMdq == dqMdq1
&& dqMdq == dqMdq2 && dqMdq == dqMdq2
&& dqMudq == dqMudq1 && dqMudq == dqMudq1
@ -199,6 +205,6 @@ quickcheck!(
&& uqMi == &uq * udq && uqMi == &uq * udq
&& uqDi == &uq / &udq && uqDi == &uq / &udq
&& uqDi == uq / &udq && uqDi == uq / &udq
&& uqDi == &uq / udq && uqDi == &uq / udq)
} }
); );

172
tests/geometry/isometry.rs
View File

@ -1,67 +1,74 @@
#![cfg(feature = "arbitrary")] #![cfg(feature = "proptest-support")]
#![allow(non_snake_case)] #![allow(non_snake_case)]
use na::{ use na::{Isometry3, Point3, Vector3};
Isometry2, Isometry3, Point2, Point3, Rotation2, Rotation3, Translation2, Translation3,
UnitComplex, UnitQuaternion, Vector2, Vector3,
};
quickcheck!( use crate::proptest::*;
fn append_rotation_wrt_point_to_id(r: UnitQuaternion<f64>, p: Point3<f64>) -> bool { use proptest::{prop_assert, prop_assert_eq, proptest};
proptest!(
#[test]
fn append_rotation_wrt_point_to_id(r in unit_quaternion(), p in point3()) {
let mut iso = Isometry3::identity(); let mut iso = Isometry3::identity();
iso.append_rotation_wrt_point_mut(&r, &p); iso.append_rotation_wrt_point_mut(&r, &p);
iso == Isometry3::rotation_wrt_point(r, p) prop_assert_eq!(iso, Isometry3::rotation_wrt_point(r, p))
} }
fn rotation_wrt_point_invariance(r: UnitQuaternion<f64>, p: Point3<f64>) -> bool { #[test]
fn rotation_wrt_point_invariance(r in unit_quaternion(), p in point3()) {
let iso = Isometry3::rotation_wrt_point(r, p); let iso = Isometry3::rotation_wrt_point(r, p);
relative_eq!(iso * p, p, epsilon = 1.0e-7) prop_assert!(relative_eq!(iso * p, p, epsilon = 1.0e-7))
} }
fn look_at_rh_3(eye: Point3<f64>, target: Point3<f64>, up: Vector3<f64>) -> bool { #[test]
fn look_at_rh_3(eye in point3(), target in point3(), up in vector3()) {
let viewmatrix = Isometry3::look_at_rh(&eye, &target, &up); let viewmatrix = Isometry3::look_at_rh(&eye, &target, &up);
let origin = Point3::origin(); let origin = Point3::origin();
relative_eq!(viewmatrix * eye, origin, epsilon = 1.0e-7)
prop_assert!(relative_eq!(viewmatrix * eye, origin, epsilon = 1.0e-7)
&& relative_eq!( && relative_eq!(
(viewmatrix * (target - eye)).normalize(), (viewmatrix * (target - eye)).normalize(),
-Vector3::z(), -Vector3::z(),
epsilon = 1.0e-7 epsilon = 1.0e-7
) ))
} }
fn observer_frame_3(eye: Point3<f64>, target: Point3<f64>, up: Vector3<f64>) -> bool { #[test]
fn observer_frame_3(eye in point3(), target in point3(), up in vector3()) {
let observer = Isometry3::face_towards(&eye, &target, &up); let observer = Isometry3::face_towards(&eye, &target, &up);
let origin = Point3::origin(); let origin = Point3::origin();
relative_eq!(observer * origin, eye, epsilon = 1.0e-7)
prop_assert!(relative_eq!(observer * origin, eye, epsilon = 1.0e-7)
&& relative_eq!( && relative_eq!(
observer * Vector3::z(), observer * Vector3::z(),
(target - eye).normalize(), (target - eye).normalize(),
epsilon = 1.0e-7 epsilon = 1.0e-7
) ))
} }
fn inverse_is_identity(i: Isometry3<f64>, p: Point3<f64>, v: Vector3<f64>) -> bool { #[test]
fn inverse_is_identity(i in isometry3(), p in point3(), v in vector3()) {
let ii = i.inverse(); let ii = i.inverse();
relative_eq!(i * ii, Isometry3::identity(), epsilon = 1.0e-7) prop_assert!(relative_eq!(i * ii, Isometry3::identity(), epsilon = 1.0e-7)
&& relative_eq!(ii * i, Isometry3::identity(), epsilon = 1.0e-7) && relative_eq!(ii * i, Isometry3::identity(), epsilon = 1.0e-7)
&& relative_eq!((i * ii) * p, p, epsilon = 1.0e-7) && relative_eq!((i * ii) * p, p, epsilon = 1.0e-7)
&& relative_eq!((ii * i) * p, p, epsilon = 1.0e-7) && relative_eq!((ii * i) * p, p, epsilon = 1.0e-7)
&& relative_eq!((i * ii) * v, v, epsilon = 1.0e-7) && relative_eq!((i * ii) * v, v, epsilon = 1.0e-7)
&& relative_eq!((ii * i) * v, v, epsilon = 1.0e-7) && relative_eq!((ii * i) * v, v, epsilon = 1.0e-7))
} }
fn inverse_is_parts_inversion(t: Translation3<f64>, r: UnitQuaternion<f64>) -> bool { #[test]
fn inverse_is_parts_inversion(t in translation3(), r in unit_quaternion()) {
let i = t * r; let i = t * r;
i.inverse() == r.inverse() * t.inverse() prop_assert!(i.inverse() == r.inverse() * t.inverse())
} }
fn multiply_equals_alga_transform(i: Isometry3<f64>, v: Vector3<f64>, p: Point3<f64>) -> bool { #[test]
i * v == i.transform_vector(&v) fn multiply_equals_alga_transform(i in isometry3(), v in vector3(), p in point3()) {
prop_assert!(i * v == i.transform_vector(&v)
&& i * p == i.transform_point(&p) && i * p == i.transform_point(&p)
&& relative_eq!( && relative_eq!(
i.inverse() * v, i.inverse() * v,
@ -72,94 +79,97 @@ quickcheck!(
i.inverse() * p, i.inverse() * p,
i.inverse_transform_point(&p), i.inverse_transform_point(&p),
epsilon = 1.0e-7 epsilon = 1.0e-7
) ))
} }
#[test]
#[cfg_attr(rustfmt, rustfmt_skip)] #[cfg_attr(rustfmt, rustfmt_skip)]
fn composition2( fn composition2(
i: Isometry2<f64>, i in isometry2(),
uc: UnitComplex<f64>, uc in unit_complex(),
r: Rotation2<f64>, r in rotation2(),
t: Translation2<f64>, t in translation2(),
v: Vector2<f64>, v in vector2(),
p: Point2<f64> p in point2()
) -> bool { ) {
// (rotation × translation) * point = rotation × (translation * point) // (rotation × translation) * point = rotation × (translation * point)
relative_eq!((uc * t) * v, uc * v, epsilon = 1.0e-7) && prop_assert!(relative_eq!((uc * t) * v, uc * v, epsilon = 1.0e-7));
relative_eq!((r * t) * v, r * v, epsilon = 1.0e-7) && prop_assert!(relative_eq!((r * t) * v, r * v, epsilon = 1.0e-7));
relative_eq!((uc * t) * p, uc * (t * p), epsilon = 1.0e-7) && prop_assert!(relative_eq!((uc * t) * p, uc * (t * p), epsilon = 1.0e-7));
relative_eq!((r * t) * p, r * (t * p), epsilon = 1.0e-7) && prop_assert!(relative_eq!((r * t) * p, r * (t * p), epsilon = 1.0e-7));
// (translation × rotation) * point = translation × (rotation * point) // (translation × rotation) * point = translation × (rotation * point)
(t * uc) * v == uc * v && prop_assert_eq!((t * uc) * v, uc * v);
(t * r) * v == r * v && prop_assert_eq!((t * r) * v, r * v);
(t * uc) * p == t * (uc * p) && prop_assert_eq!((t * uc) * p, t * (uc * p));
(t * r) * p == t * (r * p) && prop_assert_eq!((t * r) * p, t * (r * p));
// (rotation × isometry) * point = rotation × (isometry * point) // (rotation × isometry) * point = rotation × (isometry * point)
relative_eq!((uc * i) * v, uc * (i * v), epsilon = 1.0e-7) && prop_assert!(relative_eq!((uc * i) * v, uc * (i * v), epsilon = 1.0e-7));
relative_eq!((uc * i) * p, uc * (i * p), epsilon = 1.0e-7) && prop_assert!(relative_eq!((uc * i) * p, uc * (i * p), epsilon = 1.0e-7));
// (isometry × rotation) * point = isometry × (rotation * point) // (isometry × rotation) * point = isometry × (rotation * point)
relative_eq!((i * uc) * v, i * (uc * v), epsilon = 1.0e-7) && prop_assert!(relative_eq!((i * uc) * v, i * (uc * v), epsilon = 1.0e-7));
relative_eq!((i * uc) * p, i * (uc * p), epsilon = 1.0e-7) && prop_assert!(relative_eq!((i * uc) * p, i * (uc * p), epsilon = 1.0e-7));
// (translation × isometry) * point = translation × (isometry * point) // (translation × isometry) * point = translation × (isometry * point)
relative_eq!((t * i) * v, (i * v), epsilon = 1.0e-7) && prop_assert!(relative_eq!((t * i) * v, (i * v), epsilon = 1.0e-7));
relative_eq!((t * i) * p, t * (i * p), epsilon = 1.0e-7) && prop_assert!(relative_eq!((t * i) * p, t * (i * p), epsilon = 1.0e-7));
// (isometry × translation) * point = isometry × (translation * point) // (isometry × translation) * point = isometry × (translation * point)
relative_eq!((i * t) * v, i * v, epsilon = 1.0e-7) && prop_assert!(relative_eq!((i * t) * v, i * v, epsilon = 1.0e-7));
relative_eq!((i * t) * p, i * (t * p), epsilon = 1.0e-7) prop_assert!(relative_eq!((i * t) * p, i * (t * p), epsilon = 1.0e-7));
} }
#[test]
#[cfg_attr(rustfmt, rustfmt_skip)] #[cfg_attr(rustfmt, rustfmt_skip)]
fn composition3( fn composition3(
i: Isometry3<f64>, i in isometry3(),
uq: UnitQuaternion<f64>, uq in unit_quaternion(),
r: Rotation3<f64>, r in rotation3(),
t: Translation3<f64>, t in translation3(),
v: Vector3<f64>, v in vector3(),
p: Point3<f64> p in point3()
) -> bool { ) {
// (rotation × translation) * point = rotation × (translation * point) // (rotation × translation) * point = rotation × (translation * point)
relative_eq!((uq * t) * v, uq * v, epsilon = 1.0e-7) && prop_assert!(relative_eq!((uq * t) * v, uq * v, epsilon = 1.0e-7));
relative_eq!((r * t) * v, r * v, epsilon = 1.0e-7) && prop_assert!(relative_eq!((r * t) * v, r * v, epsilon = 1.0e-7));
relative_eq!((uq * t) * p, uq * (t * p), epsilon = 1.0e-7) && prop_assert!(relative_eq!((uq * t) * p, uq * (t * p), epsilon = 1.0e-7));
relative_eq!((r * t) * p, r * (t * p), epsilon = 1.0e-7) && prop_assert!(relative_eq!((r * t) * p, r * (t * p), epsilon = 1.0e-7));
// (translation × rotation) * point = translation × (rotation * point) // (translation × rotation) * point = translation × (rotation * point)
(t * uq) * v == uq * v && prop_assert_eq!((t * uq) * v, uq * v);
(t * r) * v == r * v && prop_assert_eq!((t * r) * v, r * v);
(t * uq) * p == t * (uq * p) && prop_assert_eq!((t * uq) * p, t * (uq * p));
(t * r) * p == t * (r * p) && prop_assert_eq!((t * r) * p, t * (r * p));
// (rotation × isometry) * point = rotation × (isometry * point) // (rotation × isometry) * point = rotation × (isometry * point)
relative_eq!((uq * i) * v, uq * (i * v), epsilon = 1.0e-7) && prop_assert!(relative_eq!((uq * i) * v, uq * (i * v), epsilon = 1.0e-7));
relative_eq!((uq * i) * p, uq * (i * p), epsilon = 1.0e-7) && prop_assert!(relative_eq!((uq * i) * p, uq * (i * p), epsilon = 1.0e-7));
// (isometry × rotation) * point = isometry × (rotation * point) // (isometry × rotation) * point = isometry × (rotation * point)
relative_eq!((i * uq) * v, i * (uq * v), epsilon = 1.0e-7) && prop_assert!(relative_eq!((i * uq) * v, i * (uq * v), epsilon = 1.0e-7));
relative_eq!((i * uq) * p, i * (uq * p), epsilon = 1.0e-7) && prop_assert!(relative_eq!((i * uq) * p, i * (uq * p), epsilon = 1.0e-7));
// (translation × isometry) * point = translation × (isometry * point) // (translation × isometry) * point = translation × (isometry * point)
relative_eq!((t * i) * v, (i * v), epsilon = 1.0e-7) && prop_assert!(relative_eq!((t * i) * v, (i * v), epsilon = 1.0e-7));
relative_eq!((t * i) * p, t * (i * p), epsilon = 1.0e-7) && prop_assert!(relative_eq!((t * i) * p, t * (i * p), epsilon = 1.0e-7));
// (isometry × translation) * point = isometry × (translation * point) // (isometry × translation) * point = isometry × (translation * point)
relative_eq!((i * t) * v, i * v, epsilon = 1.0e-7) && prop_assert!(relative_eq!((i * t) * v, i * v, epsilon = 1.0e-7));
relative_eq!((i * t) * p, i * (t * p), epsilon = 1.0e-7) prop_assert!(relative_eq!((i * t) * p, i * (t * p), epsilon = 1.0e-7));
} }
#[test]
#[cfg_attr(rustfmt, rustfmt_skip)] #[cfg_attr(rustfmt, rustfmt_skip)]
fn all_op_exist( fn all_op_exist(
i: Isometry3<f64>, i in isometry3(),
uq: UnitQuaternion<f64>, uq in unit_quaternion(),
t: Translation3<f64>, t in translation3(),
v: Vector3<f64>, v in vector3(),
p: Point3<f64>, p in point3(),
r: Rotation3<f64> r in rotation3()
) -> bool { ) {
let iMi = i * i; let iMi = i * i;
let iMuq = i * uq; let iMuq = i * uq;
let iDi = i / i; let iDi = i / i;
@ -210,7 +220,7 @@ quickcheck!(
iDuq1 /= uq; iDuq1 /= uq;
iDuq2 /= &uq; iDuq2 /= &uq;
iMt == iMt1 prop_assert!(iMt == iMt1
&& iMt == iMt2 && iMt == iMt2
&& iMi == iMi1 && iMi == iMi1
&& iMi == iMi2 && iMi == iMi2
@ -261,6 +271,6 @@ quickcheck!(
&& rMt == &r * t && rMt == &r * t
&& uqMt == &uq * &t && uqMt == &uq * &t
&& uqMt == uq * &t && uqMt == uq * &t
&& uqMt == &uq * t && uqMt == &uq * t)
} }
); );

8
tests/geometry/point.rs
View File

@ -92,11 +92,3 @@ fn to_homogeneous() {
assert_eq!(a.to_homogeneous(), expected); assert_eq!(a.to_homogeneous(), expected);
} }
#[cfg(feature = "arbitrary")]
quickcheck!(
fn point_sub(pt1: Point3<f64>, pt2: Point3<f64>) -> bool {
let dpt = &pt2 - &pt1;
relative_eq!(pt2, pt1 + dpt, epsilon = 1.0e-7)
}
);

21
tests/geometry/projection.rs
View File

@ -33,27 +33,32 @@ fn perspective_matrix_point_transformation() {
); );
} }
#[cfg(feature = "arbitrary")] #[cfg(feature = "proptest-support")]
mod quickcheck_tests { mod proptest_tests {
use na::{Orthographic3, Perspective3, Point3}; use na::{Orthographic3, Perspective3};
quickcheck! { use crate::proptest::*;
fn perspective_project_unproject(pt: Point3<f64>) -> bool { use proptest::{prop_assert, proptest};
proptest! {
#[test]
fn perspective_project_unproject(pt in point3()) {
let proj = Perspective3::new(800.0 / 600.0, 3.14 / 2.0, 1.0, 1000.0); let proj = Perspective3::new(800.0 / 600.0, 3.14 / 2.0, 1.0, 1000.0);
let projected = proj.project_point(&pt); let projected = proj.project_point(&pt);
let unprojected = proj.unproject_point(&projected); let unprojected = proj.unproject_point(&projected);
relative_eq!(pt, unprojected, epsilon = 1.0e-7) prop_assert!(relative_eq!(pt, unprojected, epsilon = 1.0e-7))
} }
fn orthographic_project_unproject(pt: Point3<f64>) -> bool { #[test]
fn orthographic_project_unproject(pt in point3()) {
let proj = Orthographic3::new(1.0, 2.0, -3.0, -2.5, 10.0, 900.0); let proj = Orthographic3::new(1.0, 2.0, -3.0, -2.5, 10.0, 900.0);
let projected = proj.project_point(&pt); let projected = proj.project_point(&pt);
let unprojected = proj.unproject_point(&projected); let unprojected = proj.unproject_point(&projected);
relative_eq!(pt, unprojected, epsilon = 1.0e-7) prop_assert!(relative_eq!(pt, unprojected, epsilon = 1.0e-7))
} }
} }
} }

87
tests/geometry/quaternion.rs
View File

@ -1,15 +1,19 @@
#![cfg(feature = "arbitrary")] #![cfg(feature = "proptest-support")]
#![allow(non_snake_case)] #![allow(non_snake_case)]
use na::{Point3, Quaternion, Rotation3, Unit, UnitQuaternion, Vector3}; use na::{Unit, UnitQuaternion};
quickcheck!( use crate::proptest::*;
use proptest::{prop_assert, proptest};
proptest!(
/* /*
* *
* Euler angles. * Euler angles.
* *
*/ */
fn from_euler_angles(r: f64, p: f64, y: f64) -> bool { #[test]
fn from_euler_angles(r in PROPTEST_F64, p in PROPTEST_F64, y in PROPTEST_F64) {
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);
@ -20,20 +24,21 @@ quickcheck!(
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. prop_assert!(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. prop_assert!(relative_eq!(rpitch[(1, 1)], 1.0, epsilon = 1.0e-7)); // rotation wrt. y axis.
relative_eq!(ryaw[(2, 2)], 1.0, epsilon = 1.0e-7) && // rotation wrt. z axis. prop_assert!(relative_eq!(ryaw[(2, 2)], 1.0, epsilon = 1.0e-7)); // rotation wrt. z axis.
relative_eq!(yaw * pitch * roll, rpy, epsilon = 1.0e-7) prop_assert!(relative_eq!(yaw * pitch * roll, rpy, epsilon = 1.0e-7));
} }
fn euler_angles(r: f64, p: f64, y: f64) -> bool { #[test]
fn euler_angles(r in PROPTEST_F64, p in PROPTEST_F64, y in PROPTEST_F64) {
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!( prop_assert!(relative_eq!(
UnitQuaternion::from_euler_angles(roll, pitch, yaw), UnitQuaternion::from_euler_angles(roll, pitch, yaw),
rpy, rpy,
epsilon = 1.0e-7 epsilon = 1.0e-7
) ))
} }
/* /*
@ -41,12 +46,13 @@ quickcheck!(
* From/to rotation matrix. * From/to rotation matrix.
* *
*/ */
fn unit_quaternion_rotation_conversion(q: UnitQuaternion<f64>) -> bool { #[test]
fn unit_quaternion_rotation_conversion(q in unit_quaternion()) {
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!(r, rr, epsilon = 1.0e-7) prop_assert!(relative_eq!(q, qq, epsilon = 1.0e-7) && relative_eq!(r, rr, epsilon = 1.0e-7))
} }
/* /*
@ -55,24 +61,25 @@ quickcheck!(
* *
*/ */
#[test]
#[cfg_attr(rustfmt, rustfmt_skip)] #[cfg_attr(rustfmt, rustfmt_skip)]
fn unit_quaternion_transformation( fn unit_quaternion_transformation(
q: UnitQuaternion<f64>, q in unit_quaternion(),
v: Vector3<f64>, v in vector3(),
p: Point3<f64> p in point3()
) -> 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) prop_assert!(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))
} }
/* /*
@ -80,16 +87,17 @@ quickcheck!(
* Inversion. * Inversion.
* *
*/ */
fn unit_quaternion_inv(q: UnitQuaternion<f64>) -> bool { #[test]
fn unit_quaternion_inv(q in unit_quaternion()) {
let iq = q.inverse(); let iq = q.inverse();
relative_eq!(&iq * &q, UnitQuaternion::identity(), epsilon = 1.0e-7) prop_assert!(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))
} }
/* /*
@ -97,14 +105,15 @@ quickcheck!(
* Quaterion * Vector == Rotation * Vector * Quaterion * Vector == Rotation * Vector
* *
*/ */
fn unit_quaternion_mul_vector(q: UnitQuaternion<f64>, v: Vector3<f64>, p: Point3<f64>) -> bool { #[test]
fn unit_quaternion_mul_vector(q in unit_quaternion(), v in vector3(), p in point3()) {
let r = q.to_rotation_matrix(); let r = q.to_rotation_matrix();
relative_eq!(q * v, r * v, epsilon = 1.0e-7) && prop_assert!(relative_eq!(q * v, r * v, epsilon = 1.0e-7));
relative_eq!(q * p, r * p, epsilon = 1.0e-7) && prop_assert!(relative_eq!(q * p, r * p, epsilon = 1.0e-7));
// Equivalence q = -q // Equivalence q = -q
relative_eq!(UnitQuaternion::new_unchecked(-q.into_inner()) * v, r * v, epsilon = 1.0e-7) && prop_assert!(relative_eq!(UnitQuaternion::new_unchecked(-q.into_inner()) * v, r * v, epsilon = 1.0e-7));
relative_eq!(UnitQuaternion::new_unchecked(-q.into_inner()) * p, r * p, epsilon = 1.0e-7) prop_assert!(relative_eq!(UnitQuaternion::new_unchecked(-q.into_inner()) * p, r * p, epsilon = 1.0e-7));
} }
/* /*
@ -112,23 +121,25 @@ quickcheck!(
* Unit quaternion double-covering. * Unit quaternion double-covering.
* *
*/ */
fn unit_quaternion_double_covering(q: UnitQuaternion<f64>) -> bool { #[test]
fn unit_quaternion_double_covering(q in unit_quaternion()) {
let mq = UnitQuaternion::new_unchecked(-q.into_inner()); let mq = UnitQuaternion::new_unchecked(-q.into_inner());
mq == q && mq.angle() == q.angle() && mq.axis() == q.axis() prop_assert!(mq == q && mq.angle() == q.angle() && mq.axis() == q.axis())
} }
// 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.
#[test]
#[cfg_attr(rustfmt, rustfmt_skip)] #[cfg_attr(rustfmt, rustfmt_skip)]
fn all_op_exist( fn all_op_exist(
q: Quaternion<f64>, q in quaternion(),
uq: UnitQuaternion<f64>, uq in unit_quaternion(),
v: Vector3<f64>, v in vector3(),
p: Point3<f64>, p in point3(),
r: Rotation3<f64>, r in rotation3(),
s: f64 s in PROPTEST_F64
) -> bool { ) {
let uv = Unit::new_normalize(v); let uv = Unit::new_normalize(v);
let qpq = q + q; let qpq = q + q;
@ -196,7 +207,7 @@ quickcheck!(
uqDr1 /= r; uqDr1 /= r;
uqDr2 /= &r; uqDr2 /= &r;
qMs1 == qMs prop_assert!(qMs1 == qMs
&& qMq1 == qMq && qMq1 == qMq
&& qMq1 == qMq2 && qMq1 == qMq2
&& qpq1 == qpq && qpq1 == qpq
@ -250,6 +261,6 @@ quickcheck!(
&& uqMv == &uq * v && uqMv == &uq * v
&& uqMuv == &uq * &uv && uqMuv == &uq * &uv
&& uqMuv == uq * &uv && uqMuv == uq * &uv
&& uqMuv == &uq * uv && uqMuv == &uq * uv)
} }
); );

138
tests/geometry/rotation.rs
View File

@ -30,44 +30,50 @@ fn quaternion_euler_angles_issue_494() {
assert_eq!(angs.2, 0.0); assert_eq!(angs.2, 0.0);
} }
#[cfg(feature = "arbitrary")] #[cfg(feature = "proptest-support")]
mod quickcheck_tests { mod proptest_tests {
use na::{self, Rotation2, Rotation3, Unit, Vector2, Vector3}; use na::{self, Rotation2, Rotation3, Unit};
use simba::scalar::RealField; use simba::scalar::RealField;
use std::f64; use std::f64;
quickcheck! { use crate::proptest::*;
use proptest::{prop_assert, prop_assert_eq, proptest};
proptest! {
/* /*
* *
* Euler angles. * Euler angles.
* *
*/ */
fn from_euler_angles(r: f64, p: f64, y: f64) -> bool { #[test]
fn from_euler_angles(r in PROPTEST_F64, p in PROPTEST_F64, y in PROPTEST_F64) {
let roll = Rotation3::from_euler_angles(r, 0.0, 0.0); let roll = Rotation3::from_euler_angles(r, 0.0, 0.0);
let pitch = Rotation3::from_euler_angles(0.0, p, 0.0); let pitch = Rotation3::from_euler_angles(0.0, p, 0.0);
let yaw = Rotation3::from_euler_angles(0.0, 0.0, y); let yaw = Rotation3::from_euler_angles(0.0, 0.0, y);
let rpy = Rotation3::from_euler_angles(r, p, y); let rpy = Rotation3::from_euler_angles(r, p, y);
roll[(0, 0)] == 1.0 && // rotation wrt. x axis. prop_assert_eq!(roll[(0, 0)], 1.0); // rotation wrt. x axis.
pitch[(1, 1)] == 1.0 && // rotation wrt. y axis. prop_assert_eq!(pitch[(1, 1)], 1.0); // rotation wrt. y axis.
yaw[(2, 2)] == 1.0 && // rotation wrt. z axis. prop_assert_eq!(yaw[(2, 2)], 1.0); // rotation wrt. z axis.
yaw * pitch * roll == rpy prop_assert_eq!(yaw * pitch * roll, rpy);
} }
fn euler_angles(r: f64, p: f64, y: f64) -> bool { #[test]
fn euler_angles(r in PROPTEST_F64, p in PROPTEST_F64, y in PROPTEST_F64) {
let rpy = Rotation3::from_euler_angles(r, p, y); let rpy = Rotation3::from_euler_angles(r, p, y);
let (roll, pitch, yaw) = rpy.euler_angles(); let (roll, pitch, yaw) = rpy.euler_angles();
relative_eq!(Rotation3::from_euler_angles(roll, pitch, yaw), rpy, epsilon = 1.0e-7) prop_assert!(relative_eq!(Rotation3::from_euler_angles(roll, pitch, yaw), rpy, epsilon = 1.0e-7));
} }
fn euler_angles_gimble_lock(r: f64, y: f64) -> bool { #[test]
fn euler_angles_gimble_lock(r in PROPTEST_F64, y in PROPTEST_F64) {
let pos = Rotation3::from_euler_angles(r, f64::frac_pi_2(), y); let pos = Rotation3::from_euler_angles(r, f64::frac_pi_2(), y);
let neg = Rotation3::from_euler_angles(r, -f64::frac_pi_2(), y); let neg = Rotation3::from_euler_angles(r, -f64::frac_pi_2(), y);
let (pos_r, pos_p, pos_y) = pos.euler_angles(); let (pos_r, pos_p, pos_y) = pos.euler_angles();
let (neg_r, neg_p, neg_y) = neg.euler_angles(); let (neg_r, neg_p, neg_y) = neg.euler_angles();
relative_eq!(Rotation3::from_euler_angles(pos_r, pos_p, pos_y), pos, epsilon = 1.0e-7) && prop_assert!(relative_eq!(Rotation3::from_euler_angles(pos_r, pos_p, pos_y), pos, epsilon = 1.0e-7));
relative_eq!(Rotation3::from_euler_angles(neg_r, neg_p, neg_y), neg, epsilon = 1.0e-7) prop_assert!(relative_eq!(Rotation3::from_euler_angles(neg_r, neg_p, neg_y), neg, epsilon = 1.0e-7));
} }
/* /*
@ -75,26 +81,28 @@ mod quickcheck_tests {
* Inversion is transposition. * Inversion is transposition.
* *
*/ */
fn rotation_inv_3(a: Rotation3<f64>) -> bool { #[test]
fn rotation_inv_3(a in rotation3()) {
let ta = a.transpose(); let ta = a.transpose();
let ia = a.inverse(); let ia = a.inverse();
ta == ia && prop_assert_eq!(ta, ia);
relative_eq!(&ta * &a, Rotation3::identity(), epsilon = 1.0e-7) && prop_assert!(relative_eq!(&ta * &a, Rotation3::identity(), epsilon = 1.0e-7));
relative_eq!(&ia * a, Rotation3::identity(), epsilon = 1.0e-7) && prop_assert!(relative_eq!(&ia * a, Rotation3::identity(), epsilon = 1.0e-7));
relative_eq!( a * &ta, Rotation3::identity(), epsilon = 1.0e-7) && prop_assert!(relative_eq!( a * &ta, Rotation3::identity(), epsilon = 1.0e-7));
relative_eq!( a * ia, Rotation3::identity(), epsilon = 1.0e-7) prop_assert!(relative_eq!( a * ia, Rotation3::identity(), epsilon = 1.0e-7));
} }
fn rotation_inv_2(a: Rotation2<f64>) -> bool { #[test]
fn rotation_inv_2(a in rotation2()) {
let ta = a.transpose(); let ta = a.transpose();
let ia = a.inverse(); let ia = a.inverse();
ta == ia && prop_assert_eq!(ta, ia);
relative_eq!(&ta * &a, Rotation2::identity(), epsilon = 1.0e-7) && prop_assert!(relative_eq!(&ta * &a, Rotation2::identity(), epsilon = 1.0e-7));
relative_eq!(&ia * a, Rotation2::identity(), epsilon = 1.0e-7) && prop_assert!(relative_eq!(&ia * a, Rotation2::identity(), epsilon = 1.0e-7));
relative_eq!( a * &ta, Rotation2::identity(), epsilon = 1.0e-7) && prop_assert!(relative_eq!( a * &ta, Rotation2::identity(), epsilon = 1.0e-7));
relative_eq!( a * ia, Rotation2::identity(), epsilon = 1.0e-7) prop_assert!(relative_eq!( a * ia, Rotation2::identity(), epsilon = 1.0e-7));
} }
/* /*
@ -102,12 +110,14 @@ mod quickcheck_tests {
* Angle between vectors. * Angle between vectors.
* *
*/ */
fn angle_is_commutative_2(a: Vector2<f64>, b: Vector2<f64>) -> bool { #[test]
a.angle(&b) == b.angle(&a) fn angle_is_commutative_2(a in vector2(), b in vector2()) {
prop_assert_eq!(a.angle(&b), b.angle(&a))
} }
fn angle_is_commutative_3(a: Vector3<f64>, b: Vector3<f64>) -> bool { #[test]
a.angle(&b) == b.angle(&a) fn angle_is_commutative_3(a in vector3(), b in vector3()) {
prop_assert_eq!(a.angle(&b), b.angle(&a))
} }
/* /*
@ -115,50 +125,46 @@ mod quickcheck_tests {
* Rotation matrix between vectors. * Rotation matrix between vectors.
* *
*/ */
fn rotation_between_is_anticommutative_2(a: Vector2<f64>, b: Vector2<f64>) -> bool { #[test]
fn rotation_between_is_anticommutative_2(a in vector2(), b in vector2()) {
let rab = Rotation2::rotation_between(&a, &b); let rab = Rotation2::rotation_between(&a, &b);
let rba = Rotation2::rotation_between(&b, &a); let rba = Rotation2::rotation_between(&b, &a);
relative_eq!(rab * rba, Rotation2::identity()) prop_assert!(relative_eq!(rab * rba, Rotation2::identity()));
} }
fn rotation_between_is_anticommutative_3(a: Vector3<f64>, b: Vector3<f64>) -> bool { #[test]
fn rotation_between_is_anticommutative_3(a in vector3(), b in vector3()) {
let rots = (Rotation3::rotation_between(&a, &b), Rotation3::rotation_between(&b, &a)); let rots = (Rotation3::rotation_between(&a, &b), Rotation3::rotation_between(&b, &a));
if let (Some(rab), Some(rba)) = rots { if let (Some(rab), Some(rba)) = rots {
relative_eq!(rab * rba, Rotation3::identity(), epsilon = 1.0e-7) prop_assert!(relative_eq!(rab * rba, Rotation3::identity(), epsilon = 1.0e-7));
}
else {
true
} }
} }
fn rotation_between_is_identity(v2: Vector2<f64>, v3: Vector3<f64>) -> bool { #[test]
fn rotation_between_is_identity(v2 in vector2(), v3 in vector3()) {
let vv2 = 3.42 * v2; let vv2 = 3.42 * v2;
let vv3 = 4.23 * v3; let vv3 = 4.23 * v3;
relative_eq!(v2.angle(&vv2), 0.0, epsilon = 1.0e-7) && prop_assert!(relative_eq!(v2.angle(&vv2), 0.0, epsilon = 1.0e-7));
relative_eq!(v3.angle(&vv3), 0.0, epsilon = 1.0e-7) && prop_assert!(relative_eq!(v3.angle(&vv3), 0.0, epsilon = 1.0e-7));
relative_eq!(Rotation2::rotation_between(&v2, &vv2), Rotation2::identity()) && prop_assert!(relative_eq!(Rotation2::rotation_between(&v2, &vv2), Rotation2::identity()));
Rotation3::rotation_between(&v3, &vv3).unwrap() == Rotation3::identity() prop_assert_eq!(Rotation3::rotation_between(&v3, &vv3).unwrap(), Rotation3::identity());
} }
fn rotation_between_2(a: Vector2<f64>, b: Vector2<f64>) -> bool { #[test]
fn rotation_between_2(a in vector2(), b in vector2()) {
if !relative_eq!(a.angle(&b), 0.0, epsilon = 1.0e-7) { if !relative_eq!(a.angle(&b), 0.0, epsilon = 1.0e-7) {
let r = Rotation2::rotation_between(&a, &b); let r = Rotation2::rotation_between(&a, &b);
relative_eq!((r * a).angle(&b), 0.0, epsilon = 1.0e-7) prop_assert!(relative_eq!((r * a).angle(&b), 0.0, epsilon = 1.0e-7))
}
else {
true
} }
} }
fn rotation_between_3(a: Vector3<f64>, b: Vector3<f64>) -> bool { #[test]
fn rotation_between_3(a in vector3(), b in vector3()) {
if !relative_eq!(a.angle(&b), 0.0, epsilon = 1.0e-7) { if !relative_eq!(a.angle(&b), 0.0, epsilon = 1.0e-7) {
let r = Rotation3::rotation_between(&a, &b).unwrap(); let r = Rotation3::rotation_between(&a, &b).unwrap();
relative_eq!((r * a).angle(&b), 0.0, epsilon = 1.0e-7) prop_assert!(relative_eq!((r * a).angle(&b), 0.0, epsilon = 1.0e-7))
}
else {
true
} }
} }
@ -168,25 +174,27 @@ mod quickcheck_tests {
* Rotation construction. * Rotation construction.
* *
*/ */
fn new_rotation_2(angle: f64) -> bool { #[test]
fn new_rotation_2(angle in PROPTEST_F64) {
let r = Rotation2::new(angle); let r = Rotation2::new(angle);
let angle = na::wrap(angle, -f64::pi(), f64::pi()); let angle = na::wrap(angle, -f64::pi(), f64::pi());
relative_eq!(r.angle(), angle, epsilon = 1.0e-7) prop_assert!(relative_eq!(r.angle(), angle, epsilon = 1.0e-7))
} }
fn new_rotation_3(axisangle: Vector3<f64>) -> bool { #[test]
fn new_rotation_3(axisangle in vector3()) {
let r = Rotation3::new(axisangle); let r = Rotation3::new(axisangle);
if let Some((axis, angle)) = Unit::try_new_and_get(axisangle, 0.0) { if let Some((axis, angle)) = Unit::try_new_and_get(axisangle, 0.0) {
let angle = na::wrap(angle, -f64::pi(), f64::pi()); let angle = na::wrap(angle, -f64::pi(), f64::pi());
(relative_eq!(r.angle(), angle, epsilon = 1.0e-7) && prop_assert!((relative_eq!(r.angle(), angle, epsilon = 1.0e-7) &&
relative_eq!(r.axis().unwrap(), axis, epsilon = 1.0e-7)) || relative_eq!(r.axis().unwrap(), axis, epsilon = 1.0e-7)) ||
(relative_eq!(r.angle(), -angle, epsilon = 1.0e-7) && (relative_eq!(r.angle(), -angle, epsilon = 1.0e-7) &&
relative_eq!(r.axis().unwrap(), -axis, epsilon = 1.0e-7)) relative_eq!(r.axis().unwrap(), -axis, epsilon = 1.0e-7)))
} }
else { else {
r == Rotation3::identity() prop_assert_eq!(r, Rotation3::identity())
} }
} }
@ -195,28 +203,30 @@ mod quickcheck_tests {
* Rotation pow. * Rotation pow.
* *
*/ */
fn powf_rotation_2(angle: f64, pow: f64) -> bool { #[test]
fn powf_rotation_2(angle in PROPTEST_F64, pow in PROPTEST_F64) {
let r = Rotation2::new(angle).powf(pow); let r = Rotation2::new(angle).powf(pow);
let angle = na::wrap(angle, -f64::pi(), f64::pi()); let angle = na::wrap(angle, -f64::pi(), f64::pi());
let pangle = na::wrap(angle * pow, -f64::pi(), f64::pi()); let pangle = na::wrap(angle * pow, -f64::pi(), f64::pi());
relative_eq!(r.angle(), pangle, epsilon = 1.0e-7) prop_assert!(relative_eq!(r.angle(), pangle, epsilon = 1.0e-7));
} }
fn powf_rotation_3(axisangle: Vector3<f64>, pow: f64) -> bool { #[test]
fn powf_rotation_3(axisangle in vector3(), pow in PROPTEST_F64) {
let r = Rotation3::new(axisangle).powf(pow); let r = Rotation3::new(axisangle).powf(pow);
if let Some((axis, angle)) = Unit::try_new_and_get(axisangle, 0.0) { if let Some((axis, angle)) = Unit::try_new_and_get(axisangle, 0.0) {
let angle = na::wrap(angle, -f64::pi(), f64::pi()); let angle = na::wrap(angle, -f64::pi(), f64::pi());
let pangle = na::wrap(angle * pow, -f64::pi(), f64::pi()); let pangle = na::wrap(angle * pow, -f64::pi(), f64::pi());
(relative_eq!(r.angle(), pangle, epsilon = 1.0e-7) && prop_assert!((relative_eq!(r.angle(), pangle, epsilon = 1.0e-7) &&
relative_eq!(r.axis().unwrap(), axis, epsilon = 1.0e-7)) || relative_eq!(r.axis().unwrap(), axis, epsilon = 1.0e-7)) ||
(relative_eq!(r.angle(), -pangle, epsilon = 1.0e-7) && (relative_eq!(r.angle(), -pangle, epsilon = 1.0e-7) &&
relative_eq!(r.axis().unwrap(), -axis, epsilon = 1.0e-7)) relative_eq!(r.axis().unwrap(), -axis, epsilon = 1.0e-7)));
} }
else { else {
r == Rotation3::identity() prop_assert_eq!(r, Rotation3::identity())
} }
} }
} }

244
tests/geometry/similarity.rs
View File

@ -1,41 +1,45 @@
#![cfg(feature = "arbitrary")] #![cfg(feature = "proptest-support")]
#![allow(non_snake_case)] #![allow(non_snake_case)]
use na::{Isometry3, Point3, Similarity3, Translation3, UnitQuaternion, Vector3}; use na::Similarity3;
quickcheck!( use crate::proptest::*;
fn inverse_is_identity(i: Similarity3<f64>, p: Point3<f64>, v: Vector3<f64>) -> bool { use proptest::{prop_assert, prop_assert_eq, proptest};
proptest!(
#[test]
fn inverse_is_identity(i in similarity3(), p in point3(), v in vector3()) {
let ii = i.inverse(); let ii = i.inverse();
relative_eq!(i * ii, Similarity3::identity(), epsilon = 1.0e-7) prop_assert!(relative_eq!(i * ii, Similarity3::identity(), epsilon = 1.0e-7)
&& relative_eq!(ii * i, Similarity3::identity(), epsilon = 1.0e-7) && relative_eq!(ii * i, Similarity3::identity(), epsilon = 1.0e-7)
&& relative_eq!((i * ii) * p, p, epsilon = 1.0e-7) && relative_eq!((i * ii) * p, p, epsilon = 1.0e-7)
&& relative_eq!((ii * i) * p, p, epsilon = 1.0e-7) && relative_eq!((ii * i) * p, p, epsilon = 1.0e-7)
&& relative_eq!((i * ii) * v, v, epsilon = 1.0e-7) && relative_eq!((i * ii) * v, v, epsilon = 1.0e-7)
&& relative_eq!((ii * i) * v, v, epsilon = 1.0e-7) && relative_eq!((ii * i) * v, v, epsilon = 1.0e-7))
} }
#[test]
#[cfg_attr(rustfmt, rustfmt_skip)] #[cfg_attr(rustfmt, rustfmt_skip)]
fn inverse_is_parts_inversion( fn inverse_is_parts_inversion(
t: Translation3<f64>, t in translation3(),
r: UnitQuaternion<f64>, r in unit_quaternion(),
scaling: f64 scaling in PROPTEST_F64
) -> bool { ) {
if relative_eq!(scaling, 0.0) { if !relative_eq!(scaling, 0.0) {
true
} else {
let s = Similarity3::from_isometry(t * r, scaling); let s = Similarity3::from_isometry(t * r, scaling);
s.inverse() == Similarity3::from_scaling(1.0 / scaling) * r.inverse() * t.inverse() prop_assert_eq!(s.inverse(), Similarity3::from_scaling(1.0 / scaling) * r.inverse() * t.inverse())
} }
} }
#[test]
#[cfg_attr(rustfmt, rustfmt_skip)] #[cfg_attr(rustfmt, rustfmt_skip)]
fn multiply_equals_alga_transform( fn multiply_equals_alga_transform(
s: Similarity3<f64>, s in similarity3(),
v: Vector3<f64>, v in vector3(),
p: Point3<f64> p in point3()
) -> bool { ) {
s * v == s.transform_vector(&v) prop_assert!(s * v == s.transform_vector(&v)
&& s * p == s.transform_point(&p) && s * p == s.transform_point(&p)
&& relative_eq!( && relative_eq!(
s.inverse() * v, s.inverse() * v,
@ -46,114 +50,114 @@ quickcheck!(
s.inverse() * p, s.inverse() * p,
s.inverse_transform_point(&p), s.inverse_transform_point(&p),
epsilon = 1.0e-7 epsilon = 1.0e-7
) ))
} }
#[test]
#[cfg_attr(rustfmt, rustfmt_skip)] #[cfg_attr(rustfmt, rustfmt_skip)]
fn composition( fn composition(
i: Isometry3<f64>, i in isometry3(),
uq: UnitQuaternion<f64>, uq in unit_quaternion(),
t: Translation3<f64>, t in translation3(),
v: Vector3<f64>, v in vector3(),
p: Point3<f64>, p in point3(),
scaling: f64 scaling in PROPTEST_F64
) -> bool { ) {
if relative_eq!(scaling, 0.0) { if !relative_eq!(scaling, 0.0) {
return true; let s = Similarity3::from_scaling(scaling);
// (rotation × translation × scaling) × point = rotation × (translation × (scaling × point))
prop_assert!(relative_eq!((uq * t * s) * v, uq * (scaling * v), epsilon = 1.0e-7));
prop_assert!(relative_eq!((uq * t * s) * p, uq * (t * (scaling * p)), epsilon = 1.0e-7));
// (translation × rotation × scaling) × point = translation × (rotation × (scaling × point))
prop_assert!(relative_eq!((t * uq * s) * v, uq * (scaling * v), epsilon = 1.0e-7));
prop_assert!(relative_eq!((t * uq * s) * p, t * (uq * (scaling * p)), epsilon = 1.0e-7));
// (rotation × isometry × scaling) × point = rotation × (isometry × (scaling × point))
prop_assert!(relative_eq!((uq * i * s) * v, uq * (i * (scaling * v)), epsilon = 1.0e-7));
prop_assert!(relative_eq!((uq * i * s) * p, uq * (i * (scaling * p)), epsilon = 1.0e-7));
// (isometry × rotation × scaling) × point = isometry × (rotation × (scaling × point))
prop_assert!(relative_eq!((i * uq * s) * v, i * (uq * (scaling * v)), epsilon = 1.0e-7));
prop_assert!(relative_eq!((i * uq * s) * p, i * (uq * (scaling * p)), epsilon = 1.0e-7));
// (translation × isometry × scaling) × point = translation × (isometry × (scaling × point))
prop_assert!(relative_eq!((t * i * s) * v, (i * (scaling * v)), epsilon = 1.0e-7));
prop_assert!(relative_eq!((t * i * s) * p, t * (i * (scaling * p)), epsilon = 1.0e-7));
// (isometry × translation × scaling) × point = isometry × (translation × (scaling × point))
prop_assert!(relative_eq!((i * t * s) * v, i * (scaling * v), epsilon = 1.0e-7));
prop_assert!(relative_eq!((i * t * s) * p, i * (t * (scaling * p)), epsilon = 1.0e-7));
/*
* Same as before but with scaling on the middle.
*/
// (rotation × scaling × translation) × point = rotation × (scaling × (translation × point))
prop_assert!(relative_eq!((uq * s * t) * v, uq * (scaling * v), epsilon = 1.0e-7));
prop_assert!(relative_eq!((uq * s * t) * p, uq * (scaling * (t * p)), epsilon = 1.0e-7));
// (translation × scaling × rotation) × point = translation × (scaling × (rotation × point))
prop_assert!(relative_eq!((t * s * uq) * v, scaling * (uq * v), epsilon = 1.0e-7));
prop_assert!(relative_eq!((t * s * uq) * p, t * (scaling * (uq * p)), epsilon = 1.0e-7));
// (rotation × scaling × isometry) × point = rotation × (scaling × (isometry × point))
prop_assert!(relative_eq!((uq * s * i) * v, uq * (scaling * (i * v)), epsilon = 1.0e-7));
prop_assert!(relative_eq!((uq * s * i) * p, uq * (scaling * (i * p)), epsilon = 1.0e-7));
// (isometry × scaling × rotation) × point = isometry × (scaling × (rotation × point))
prop_assert!(relative_eq!((i * s * uq) * v, i * (scaling * (uq * v)), epsilon = 1.0e-7));
prop_assert!(relative_eq!((i * s * uq) * p, i * (scaling * (uq * p)), epsilon = 1.0e-7));
// (translation × scaling × isometry) × point = translation × (scaling × (isometry × point))
prop_assert!(relative_eq!((t * s * i) * v, (scaling * (i * v)), epsilon = 1.0e-7));
prop_assert!(relative_eq!((t * s * i) * p, t * (scaling * (i * p)), epsilon = 1.0e-7));
// (isometry × scaling × translation) × point = isometry × (scaling × (translation × point))
prop_assert!(relative_eq!((i * s * t) * v, i * (scaling * v), epsilon = 1.0e-7));
prop_assert!(relative_eq!((i * s * t) * p, i * (scaling * (t * p)), epsilon = 1.0e-7));
/*
* Same as before but with scaling on the left.
*/
// (scaling × rotation × translation) × point = scaling × (rotation × (translation × point))
prop_assert!(relative_eq!((s * uq * t) * v, scaling * (uq * v), epsilon = 1.0e-7));
prop_assert!(relative_eq!((s * uq * t) * p, scaling * (uq * (t * p)), epsilon = 1.0e-7));
// (scaling × translation × rotation) × point = scaling × (translation × (rotation × point))
prop_assert!(relative_eq!((s * t * uq) * v, scaling * (uq * v), epsilon = 1.0e-7));
prop_assert!(relative_eq!((s * t * uq) * p, scaling * (t * (uq * p)), epsilon = 1.0e-7));
// (scaling × rotation × isometry) × point = scaling × (rotation × (isometry × point))
prop_assert!(relative_eq!((s * uq * i) * v, scaling * (uq * (i * v)), epsilon = 1.0e-7));
prop_assert!(relative_eq!((s * uq * i) * p, scaling * (uq * (i * p)), epsilon = 1.0e-7));
// (scaling × isometry × rotation) × point = scaling × (isometry × (rotation × point))
prop_assert!(relative_eq!((s * i * uq) * v, scaling * (i * (uq * v)), epsilon = 1.0e-7));
prop_assert!(relative_eq!((s * i * uq) * p, scaling * (i * (uq * p)), epsilon = 1.0e-7));
// (scaling × translation × isometry) × point = scaling × (translation × (isometry × point))
prop_assert!(relative_eq!((s * t * i) * v, (scaling * (i * v)), epsilon = 1.0e-7));
prop_assert!(relative_eq!((s * t * i) * p, scaling * (t * (i * p)), epsilon = 1.0e-7));
// (scaling × isometry × translation) × point = scaling × (isometry × (translation × point))
prop_assert!(relative_eq!((s * i * t) * v, scaling * (i * v), epsilon = 1.0e-7));
prop_assert!(relative_eq!((s * i * t) * p, scaling * (i * (t * p)), epsilon = 1.0e-7));
} }
let s = Similarity3::from_scaling(scaling);
// (rotation × translation × scaling) × point = rotation × (translation × (scaling × point))
relative_eq!((uq * t * s) * v, uq * (scaling * v), epsilon = 1.0e-7) &&
relative_eq!((uq * t * s) * p, uq * (t * (scaling * p)), epsilon = 1.0e-7) &&
// (translation × rotation × scaling) × point = translation × (rotation × (scaling × point))
relative_eq!((t * uq * s) * v, uq * (scaling * v), epsilon = 1.0e-7) &&
relative_eq!((t * uq * s) * p, t * (uq * (scaling * p)), epsilon = 1.0e-7) &&
// (rotation × isometry × scaling) × point = rotation × (isometry × (scaling × point))
relative_eq!((uq * i * s) * v, uq * (i * (scaling * v)), epsilon = 1.0e-7) &&
relative_eq!((uq * i * s) * p, uq * (i * (scaling * p)), epsilon = 1.0e-7) &&
// (isometry × rotation × scaling) × point = isometry × (rotation × (scaling × point))
relative_eq!((i * uq * s) * v, i * (uq * (scaling * v)), epsilon = 1.0e-7) &&
relative_eq!((i * uq * s) * p, i * (uq * (scaling * p)), epsilon = 1.0e-7) &&
// (translation × isometry × scaling) × point = translation × (isometry × (scaling × point))
relative_eq!((t * i * s) * v, (i * (scaling * v)), epsilon = 1.0e-7) &&
relative_eq!((t * i * s) * p, t * (i * (scaling * p)), epsilon = 1.0e-7) &&
// (isometry × translation × scaling) × point = isometry × (translation × (scaling × point))
relative_eq!((i * t * s) * v, i * (scaling * v), epsilon = 1.0e-7) &&
relative_eq!((i * t * s) * p, i * (t * (scaling * p)), epsilon = 1.0e-7) &&
/*
* Same as before but with scaling on the middle.
*/
// (rotation × scaling × translation) × point = rotation × (scaling × (translation × point))
relative_eq!((uq * s * t) * v, uq * (scaling * v), epsilon = 1.0e-7) &&
relative_eq!((uq * s * t) * p, uq * (scaling * (t * p)), epsilon = 1.0e-7) &&
// (translation × scaling × rotation) × point = translation × (scaling × (rotation × point))
relative_eq!((t * s * uq) * v, scaling * (uq * v), epsilon = 1.0e-7) &&
relative_eq!((t * s * uq) * p, t * (scaling * (uq * p)), epsilon = 1.0e-7) &&
// (rotation × scaling × isometry) × point = rotation × (scaling × (isometry × point))
relative_eq!((uq * s * i) * v, uq * (scaling * (i * v)), epsilon = 1.0e-7) &&
relative_eq!((uq * s * i) * p, uq * (scaling * (i * p)), epsilon = 1.0e-7) &&
// (isometry × scaling × rotation) × point = isometry × (scaling × (rotation × point))
relative_eq!((i * s * uq) * v, i * (scaling * (uq * v)), epsilon = 1.0e-7) &&
relative_eq!((i * s * uq) * p, i * (scaling * (uq * p)), epsilon = 1.0e-7) &&
// (translation × scaling × isometry) × point = translation × (scaling × (isometry × point))
relative_eq!((t * s * i) * v, (scaling * (i * v)), epsilon = 1.0e-7) &&
relative_eq!((t * s * i) * p, t * (scaling * (i * p)), epsilon = 1.0e-7) &&
// (isometry × scaling × translation) × point = isometry × (scaling × (translation × point))
relative_eq!((i * s * t) * v, i * (scaling * v), epsilon = 1.0e-7) &&
relative_eq!((i * s * t) * p, i * (scaling * (t * p)), epsilon = 1.0e-7) &&
/*
* Same as before but with scaling on the left.
*/
// (scaling × rotation × translation) × point = scaling × (rotation × (translation × point))
relative_eq!((s * uq * t) * v, scaling * (uq * v), epsilon = 1.0e-7) &&
relative_eq!((s * uq * t) * p, scaling * (uq * (t * p)), epsilon = 1.0e-7) &&
// (scaling × translation × rotation) × point = scaling × (translation × (rotation × point))
relative_eq!((s * t * uq) * v, scaling * (uq * v), epsilon = 1.0e-7) &&
relative_eq!((s * t * uq) * p, scaling * (t * (uq * p)), epsilon = 1.0e-7) &&
// (scaling × rotation × isometry) × point = scaling × (rotation × (isometry × point))
relative_eq!((s * uq * i) * v, scaling * (uq * (i * v)), epsilon = 1.0e-7) &&
relative_eq!((s * uq * i) * p, scaling * (uq * (i * p)), epsilon = 1.0e-7) &&
// (scaling × isometry × rotation) × point = scaling × (isometry × (rotation × point))
relative_eq!((s * i * uq) * v, scaling * (i * (uq * v)), epsilon = 1.0e-7) &&
relative_eq!((s * i * uq) * p, scaling * (i * (uq * p)), epsilon = 1.0e-7) &&
// (scaling × translation × isometry) × point = scaling × (translation × (isometry × point))
relative_eq!((s * t * i) * v, (scaling * (i * v)), epsilon = 1.0e-7) &&
relative_eq!((s * t * i) * p, scaling * (t * (i * p)), epsilon = 1.0e-7) &&
// (scaling × isometry × translation) × point = scaling × (isometry × (translation × point))
relative_eq!((s * i * t) * v, scaling * (i * v), epsilon = 1.0e-7) &&
relative_eq!((s * i * t) * p, scaling * (i * (t * p)), epsilon = 1.0e-7)
} }
#[test]
#[cfg_attr(rustfmt, rustfmt_skip)] #[cfg_attr(rustfmt, rustfmt_skip)]
fn all_op_exist( fn all_op_exist(
s: Similarity3<f64>, s in similarity3(),
i: Isometry3<f64>, i in isometry3(),
uq: UnitQuaternion<f64>, uq in unit_quaternion(),
t: Translation3<f64>, t in translation3(),
v: Vector3<f64>, v in vector3(),
p: Point3<f64> p in point3()
) -> bool { ) {
let sMs = s * s; let sMs = s * s;
let sMuq = s * uq; let sMuq = s * uq;
let sDs = s / s; let sDs = s / s;
@ -216,7 +220,7 @@ quickcheck!(
sDi1 /= i; sDi1 /= i;
sDi2 /= &i; sDi2 /= &i;
sMt == sMt1 prop_assert!(sMt == sMt1
&& sMt == sMt2 && sMt == sMt2
&& sMs == sMs1 && sMs == sMs1
&& sMs == sMs2 && sMs == sMs2
@ -271,6 +275,6 @@ quickcheck!(
&& iMs == &i * s && iMs == &i * s
&& iDs == &i / &s && iDs == &i / &s
&& iDs == i / &s && iDs == i / &s
&& iDs == &i / s && iDs == &i / s)
} }
); );

52
tests/geometry/unit_complex.rs
View File

@ -1,20 +1,25 @@
#![cfg(feature = "arbitrary")] #![cfg(feature = "proptest-support")]
#![allow(non_snake_case)] #![allow(non_snake_case)]
use na::{Point2, Rotation2, Unit, UnitComplex, Vector2}; use na::{Unit, UnitComplex};
quickcheck!( use crate::proptest::*;
use proptest::{prop_assert, proptest};
proptest!(
/* /*
* *
* From/to rotation matrix. * From/to rotation matrix.
* *
*/ */
fn unit_complex_rotation_conversion(c: UnitComplex<f64>) -> bool { #[test]
fn unit_complex_rotation_conversion(c in unit_complex()) {
let r = c.to_rotation_matrix(); let r = c.to_rotation_matrix();
let cc = UnitComplex::from_rotation_matrix(&r); let cc = UnitComplex::from_rotation_matrix(&r);
let rr = cc.to_rotation_matrix(); let rr = cc.to_rotation_matrix();
relative_eq!(c, cc, epsilon = 1.0e-7) && relative_eq!(r, rr, epsilon = 1.0e-7) prop_assert!(relative_eq!(c, cc, epsilon = 1.0e-7));
prop_assert!(relative_eq!(r, rr, epsilon = 1.0e-7));
} }
/* /*
@ -22,19 +27,20 @@ quickcheck!(
* Point/Vector transformation. * Point/Vector transformation.
* *
*/ */
fn unit_complex_transformation(c: UnitComplex<f64>, v: Vector2<f64>, p: Point2<f64>) -> bool { #[test]
fn unit_complex_transformation(c in unit_complex(), v in vector2(), p in point2()) {
let r = c.to_rotation_matrix(); let r = c.to_rotation_matrix();
let rv = r * v; let rv = r * v;
let rp = r * p; let rp = r * p;
relative_eq!(c * v, rv, epsilon = 1.0e-7) prop_assert!(relative_eq!(c * v, rv, epsilon = 1.0e-7)
&& relative_eq!(c * &v, rv, epsilon = 1.0e-7) && relative_eq!(c * &v, rv, epsilon = 1.0e-7)
&& relative_eq!(&c * v, rv, epsilon = 1.0e-7) && relative_eq!(&c * v, rv, epsilon = 1.0e-7)
&& relative_eq!(&c * &v, rv, epsilon = 1.0e-7) && relative_eq!(&c * &v, rv, epsilon = 1.0e-7)
&& relative_eq!(c * p, rp, epsilon = 1.0e-7) && relative_eq!(c * p, rp, epsilon = 1.0e-7)
&& relative_eq!(c * &p, rp, epsilon = 1.0e-7) && relative_eq!(c * &p, rp, epsilon = 1.0e-7)
&& relative_eq!(&c * p, rp, epsilon = 1.0e-7) && relative_eq!(&c * p, rp, epsilon = 1.0e-7)
&& relative_eq!(&c * &p, rp, epsilon = 1.0e-7) && relative_eq!(&c * &p, rp, epsilon = 1.0e-7))
} }
/* /*
@ -42,39 +48,43 @@ quickcheck!(
* Inversion. * Inversion.
* *
*/ */
fn unit_complex_inv(c: UnitComplex<f64>) -> bool { #[test]
fn unit_complex_inv(c in unit_complex()) {
let iq = c.inverse(); let iq = c.inverse();
relative_eq!(&iq * &c, UnitComplex::identity(), epsilon = 1.0e-7) prop_assert!(relative_eq!(&iq * &c, UnitComplex::identity(), epsilon = 1.0e-7)
&& relative_eq!(iq * &c, UnitComplex::identity(), epsilon = 1.0e-7) && relative_eq!(iq * &c, UnitComplex::identity(), epsilon = 1.0e-7)
&& relative_eq!(&iq * c, UnitComplex::identity(), epsilon = 1.0e-7) && relative_eq!(&iq * c, UnitComplex::identity(), epsilon = 1.0e-7)
&& relative_eq!(iq * c, UnitComplex::identity(), epsilon = 1.0e-7) && relative_eq!(iq * c, UnitComplex::identity(), epsilon = 1.0e-7)
&& relative_eq!(&c * &iq, UnitComplex::identity(), epsilon = 1.0e-7) && relative_eq!(&c * &iq, UnitComplex::identity(), epsilon = 1.0e-7)
&& relative_eq!(c * &iq, UnitComplex::identity(), epsilon = 1.0e-7) && relative_eq!(c * &iq, UnitComplex::identity(), epsilon = 1.0e-7)
&& relative_eq!(&c * iq, UnitComplex::identity(), epsilon = 1.0e-7) && relative_eq!(&c * iq, UnitComplex::identity(), epsilon = 1.0e-7)
&& relative_eq!(c * iq, UnitComplex::identity(), epsilon = 1.0e-7) && relative_eq!(c * iq, UnitComplex::identity(), epsilon = 1.0e-7))
} }
/* /*
* *
* Quaterion * Vector == Rotation * Vector * Quaternion * Vector == Rotation * Vector
* *
*/ */
fn unit_complex_mul_vector(c: UnitComplex<f64>, v: Vector2<f64>, p: Point2<f64>) -> bool { #[test]
fn unit_complex_mul_vector(c in unit_complex(), v in vector2(), p in point2()) {
let r = c.to_rotation_matrix(); let r = c.to_rotation_matrix();
relative_eq!(c * v, r * v, epsilon = 1.0e-7) && relative_eq!(c * p, r * p, epsilon = 1.0e-7) prop_assert!(relative_eq!(c * v, r * v, epsilon = 1.0e-7));
prop_assert!(relative_eq!(c * p, r * p, epsilon = 1.0e-7));
} }
// 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.
#[test]
#[cfg_attr(rustfmt, rustfmt_skip)] #[cfg_attr(rustfmt, rustfmt_skip)]
fn all_op_exist( fn all_op_exist(
uc: UnitComplex<f64>, uc in unit_complex(),
v: Vector2<f64>, v in vector2(),
p: Point2<f64>, p in point2(),
r: Rotation2<f64> r in rotation2()
) -> bool { ) {
let uv = Unit::new_normalize(v); let uv = Unit::new_normalize(v);
let ucMuc = uc * uc; let ucMuc = uc * uc;
@ -112,7 +122,7 @@ quickcheck!(
ucDr1 /= r; ucDr1 /= r;
ucDr2 /= &r; ucDr2 /= &r;
ucMuc1 == ucMuc prop_assert!(ucMuc1 == ucMuc
&& ucMuc1 == ucMuc2 && ucMuc1 == ucMuc2
&& ucMr1 == ucMr && ucMr1 == ucMr
&& ucMr1 == ucMr2 && ucMr1 == ucMr2
@ -146,6 +156,6 @@ quickcheck!(
&& ucMv == &uc * v && ucMv == &uc * v
&& ucMuv == &uc * &uv && ucMuv == &uc * &uv
&& ucMuv == uc * &uv && ucMuv == uc * &uv
&& ucMuv == &uc * uv && ucMuv == &uc * uv)
} }
); );

3
tests/lib.rs
View File

@ -12,9 +12,6 @@ extern crate approx;
extern crate mint; extern crate mint;
extern crate nalgebra as na; extern crate nalgebra as na;
extern crate num_traits as num; extern crate num_traits as num;
#[cfg(feature = "arbitrary")]
#[macro_use]
extern crate quickcheck;
mod core; mod core;
mod geometry; mod geometry;

22
tests/linalg/balancing.rs
View File

@ -1,26 +1,28 @@
#![cfg(feature = "arbitrary")] #![cfg(feature = "proptest-support")]
use std::cmp;
use na::balancing; use na::balancing;
use na::{DMatrix, Matrix4}; use na::DMatrix;
quickcheck! { use crate::proptest::*;
fn balancing_parlett_reinsch(n: usize) -> bool { use proptest::{prop_assert_eq, proptest};
let n = cmp::min(n, 10);
proptest! {
#[test]
fn balancing_parlett_reinsch(n in PROPTEST_MATRIX_DIM) {
let m = DMatrix::<f64>::new_random(n, n); let m = DMatrix::<f64>::new_random(n, n);
let mut balanced = m.clone(); let mut balanced = m.clone();
let d = balancing::balance_parlett_reinsch(&mut balanced); let d = balancing::balance_parlett_reinsch(&mut balanced);
balancing::unbalance(&mut balanced, &d); balancing::unbalance(&mut balanced, &d);
balanced == m prop_assert_eq!(balanced, m);
} }
fn balancing_parlett_reinsch_static(m: Matrix4<f64>) -> bool { #[test]
fn balancing_parlett_reinsch_static(m in matrix4()) {
let mut balanced = m; let mut balanced = m;
let d = balancing::balance_parlett_reinsch(&mut balanced); let d = balancing::balance_parlett_reinsch(&mut balanced);
balancing::unbalance(&mut balanced, &d); balancing::unbalance(&mut balanced, &d);
balanced == m prop_assert_eq!(balanced, m);
} }
} }

46
tests/linalg/bidiagonal.rs
View File

@ -1,63 +1,61 @@
#![cfg(feature = "arbitrary")] #![cfg(feature = "proptest-support")]
macro_rules! gen_tests( macro_rules! gen_tests(
($module: ident, $scalar: ty) => { ($module: ident, $scalar: expr) => {
mod $module { mod $module {
use na::{DMatrix, Matrix2, Matrix3x5, Matrix4, Matrix5x3};
#[allow(unused_imports)] #[allow(unused_imports)]
use crate::core::helper::{RandScalar, RandComplex}; use crate::core::helper::{RandScalar, RandComplex};
quickcheck! { use crate::proptest::*;
fn bidiagonal(m: DMatrix<$scalar>) -> bool { use proptest::{prop_assert, proptest};
let m = m.map(|e| e.0);
if m.len() == 0 {
return true;
}
proptest! {
#[test]
fn bidiagonal(m in dmatrix_($scalar)) {
let bidiagonal = m.clone().bidiagonalize(); let bidiagonal = m.clone().bidiagonalize();
let (u, d, v_t) = bidiagonal.unpack(); let (u, d, v_t) = bidiagonal.unpack();
relative_eq!(m, &u * d * &v_t, epsilon = 1.0e-7) prop_assert!(relative_eq!(m, &u * d * &v_t, epsilon = 1.0e-7))
} }
fn bidiagonal_static_5_3(m: Matrix5x3<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn bidiagonal_static_5_3(m in matrix5x3_($scalar)) {
let bidiagonal = m.bidiagonalize(); let bidiagonal = m.bidiagonalize();
let (u, d, v_t) = bidiagonal.unpack(); let (u, d, v_t) = bidiagonal.unpack();
relative_eq!(m, &u * d * &v_t, epsilon = 1.0e-7) prop_assert!(relative_eq!(m, &u * d * &v_t, epsilon = 1.0e-7))
} }
fn bidiagonal_static_3_5(m: Matrix3x5<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn bidiagonal_static_3_5(m in matrix3x5_($scalar)) {
let bidiagonal = m.bidiagonalize(); let bidiagonal = m.bidiagonalize();
let (u, d, v_t) = bidiagonal.unpack(); let (u, d, v_t) = bidiagonal.unpack();
relative_eq!(m, &u * d * &v_t, epsilon = 1.0e-7) prop_assert!(relative_eq!(m, &u * d * &v_t, epsilon = 1.0e-7))
} }
fn bidiagonal_static_square(m: Matrix4<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn bidiagonal_static_square(m in matrix4_($scalar)) {
let bidiagonal = m.bidiagonalize(); let bidiagonal = m.bidiagonalize();
let (u, d, v_t) = bidiagonal.unpack(); let (u, d, v_t) = bidiagonal.unpack();
relative_eq!(m, &u * d * &v_t, epsilon = 1.0e-7) prop_assert!(relative_eq!(m, &u * d * &v_t, epsilon = 1.0e-7))
} }
fn bidiagonal_static_square_2x2(m: Matrix2<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn bidiagonal_static_square_2x2(m in matrix2_($scalar)) {
let bidiagonal = m.bidiagonalize(); let bidiagonal = m.bidiagonalize();
let (u, d, v_t) = bidiagonal.unpack(); let (u, d, v_t) = bidiagonal.unpack();
relative_eq!(m, &u * d * &v_t, epsilon = 1.0e-7) prop_assert!(relative_eq!(m, &u * d * &v_t, epsilon = 1.0e-7))
} }
} }
} }
} }
); );
gen_tests!(complex, RandComplex<f64>); gen_tests!(complex, complex_f64());
gen_tests!(f64, RandScalar<f64>); gen_tests!(f64, PROPTEST_F64);
#[test] #[test]
fn bidiagonal_identity() { fn bidiagonal_identity() {

68
tests/linalg/cholesky.rs
View File

@ -1,4 +1,4 @@
#![cfg(all(feature = "arbitrary", feature = "debug"))] #![cfg(all(feature = "proptest-support", feature = "debug"))]
macro_rules! gen_tests( macro_rules! gen_tests(
($module: ident, $scalar: ty) => { ($module: ident, $scalar: ty) => {
@ -9,32 +9,30 @@ macro_rules! gen_tests(
use rand::random; use rand::random;
#[allow(unused_imports)] #[allow(unused_imports)]
use crate::core::helper::{RandScalar, RandComplex}; use crate::core::helper::{RandScalar, RandComplex};
use std::cmp;
quickcheck! { use crate::proptest::*;
fn cholesky(n: usize) -> bool { use proptest::{prop_assert, proptest};
let m = RandomSDP::new(Dynamic::new(n.max(1).min(50)), || random::<$scalar>().0).unwrap();
proptest! {
#[test]
fn cholesky(n in PROPTEST_MATRIX_DIM) {
let m = RandomSDP::new(Dynamic::new(n), || random::<$scalar>().0).unwrap();
let l = m.clone().cholesky().unwrap().unpack(); let l = m.clone().cholesky().unwrap().unpack();
relative_eq!(m, &l * l.adjoint(), epsilon = 1.0e-7) prop_assert!(relative_eq!(m, &l * l.adjoint(), epsilon = 1.0e-7));
} }
fn cholesky_static(_m: RandomSDP<f64, U4>) -> bool { #[test]
fn cholesky_static(_n in PROPTEST_MATRIX_DIM) {
let m = RandomSDP::new(U4, || random::<$scalar>().0).unwrap(); let m = RandomSDP::new(U4, || random::<$scalar>().0).unwrap();
let chol = m.cholesky().unwrap(); let chol = m.cholesky().unwrap();
let l = chol.unpack(); let l = chol.unpack();
if !relative_eq!(m, &l * l.adjoint(), epsilon = 1.0e-7) { prop_assert!(relative_eq!(m, &l * l.adjoint(), epsilon = 1.0e-7));
false
}
else {
true
}
} }
fn cholesky_solve(n: usize, nb: usize) -> bool { #[test]
let n = n.max(1).min(50); fn cholesky_solve(n in PROPTEST_MATRIX_DIM, nb in PROPTEST_MATRIX_DIM) {
let m = RandomSDP::new(Dynamic::new(n), || random::<$scalar>().0).unwrap(); let m = RandomSDP::new(Dynamic::new(n), || random::<$scalar>().0).unwrap();
let nb = cmp::min(nb, 50); // To avoid slowing down the test too much.
let chol = m.clone().cholesky().unwrap(); let chol = m.clone().cholesky().unwrap();
let b1 = DVector::<$scalar>::new_random(n).map(|e| e.0); let b1 = DVector::<$scalar>::new_random(n).map(|e| e.0);
@ -43,11 +41,12 @@ macro_rules! gen_tests(
let sol1 = chol.solve(&b1); let sol1 = chol.solve(&b1);
let sol2 = chol.solve(&b2); let sol2 = chol.solve(&b2);
relative_eq!(&m * &sol1, b1, epsilon = 1.0e-7) && prop_assert!(relative_eq!(&m * &sol1, b1, epsilon = 1.0e-7));
relative_eq!(&m * &sol2, b2, epsilon = 1.0e-7) prop_assert!(relative_eq!(&m * &sol2, b2, epsilon = 1.0e-7));
} }
fn cholesky_solve_static(_n: usize) -> bool { #[test]
fn cholesky_solve_static(_n in PROPTEST_MATRIX_DIM) {
let m = RandomSDP::new(U4, || random::<$scalar>().0).unwrap(); let m = RandomSDP::new(U4, || random::<$scalar>().0).unwrap();
let chol = m.clone().cholesky().unwrap(); let chol = m.clone().cholesky().unwrap();
let b1 = Vector4::<$scalar>::new_random().map(|e| e.0); let b1 = Vector4::<$scalar>::new_random().map(|e| e.0);
@ -56,29 +55,32 @@ macro_rules! gen_tests(
let sol1 = chol.solve(&b1); let sol1 = chol.solve(&b1);
let sol2 = chol.solve(&b2); let sol2 = chol.solve(&b2);
relative_eq!(m * sol1, b1, epsilon = 1.0e-7) && prop_assert!(relative_eq!(m * sol1, b1, epsilon = 1.0e-7));
relative_eq!(m * sol2, b2, epsilon = 1.0e-7) prop_assert!(relative_eq!(m * sol2, b2, epsilon = 1.0e-7));
} }
fn cholesky_inverse(n: usize) -> bool { #[test]
let m = RandomSDP::new(Dynamic::new(n.max(1).min(50)), || random::<$scalar>().0).unwrap(); fn cholesky_inverse(n in PROPTEST_MATRIX_DIM) {
let m = RandomSDP::new(Dynamic::new(n), || random::<$scalar>().0).unwrap();
let m1 = m.clone().cholesky().unwrap().inverse(); let m1 = m.clone().cholesky().unwrap().inverse();
let id1 = &m * &m1; let id1 = &m * &m1;
let id2 = &m1 * &m; let id2 = &m1 * &m;
id1.is_identity(1.0e-7) && id2.is_identity(1.0e-7) prop_assert!(id1.is_identity(1.0e-7) && id2.is_identity(1.0e-7));
} }
fn cholesky_inverse_static(_n: usize) -> bool { #[test]
fn cholesky_inverse_static(_n in PROPTEST_MATRIX_DIM) {
let m = RandomSDP::new(U4, || random::<$scalar>().0).unwrap(); let m = RandomSDP::new(U4, || random::<$scalar>().0).unwrap();
let m1 = m.clone().cholesky().unwrap().inverse(); let m1 = m.clone().cholesky().unwrap().inverse();
let id1 = &m * &m1; let id1 = &m * &m1;
let id2 = &m1 * &m; let id2 = &m1 * &m;
id1.is_identity(1.0e-7) && id2.is_identity(1.0e-7) prop_assert!(id1.is_identity(1.0e-7) && id2.is_identity(1.0e-7));
} }
fn cholesky_rank_one_update(_n: usize) -> bool { #[test]
fn cholesky_rank_one_update(_n in PROPTEST_MATRIX_DIM) {
let mut m = RandomSDP::new(U4, || random::<$scalar>().0).unwrap(); let mut m = RandomSDP::new(U4, || random::<$scalar>().0).unwrap();
let x = Vector4::<$scalar>::new_random().map(|e| e.0); let x = Vector4::<$scalar>::new_random().map(|e| e.0);
@ -96,10 +98,11 @@ macro_rules! gen_tests(
// updates m manually // updates m manually
m.gerc(sigma_scalar, &x, &x, one); // m += sigma * x * x.adjoint() m.gerc(sigma_scalar, &x, &x, one); // m += sigma * x * x.adjoint()
relative_eq!(m, m_chol_updated, epsilon = 1.0e-7) prop_assert!(relative_eq!(m, m_chol_updated, epsilon = 1.0e-7));
} }
fn cholesky_insert_column(n: usize) -> bool { #[test]
fn cholesky_insert_column(n in PROPTEST_MATRIX_DIM) {
let n = n.max(1).min(10); let n = n.max(1).min(10);
let j = random::<usize>() % n; let j = random::<usize>() % n;
let m_updated = RandomSDP::new(Dynamic::new(n), || random::<$scalar>().0).unwrap(); let m_updated = RandomSDP::new(Dynamic::new(n), || random::<$scalar>().0).unwrap();
@ -112,10 +115,11 @@ macro_rules! gen_tests(
let chol = m.clone().cholesky().unwrap().insert_column(j, col); let chol = m.clone().cholesky().unwrap().insert_column(j, col);
let m_chol_updated = chol.l() * chol.l().adjoint(); let m_chol_updated = chol.l() * chol.l().adjoint();
relative_eq!(m_updated, m_chol_updated, epsilon = 1.0e-7) prop_assert!(relative_eq!(m_updated, m_chol_updated, epsilon = 1.0e-7));
} }
fn cholesky_remove_column(n: usize) -> bool { #[test]
fn cholesky_remove_column(n in PROPTEST_MATRIX_DIM) {
let n = n.max(1).min(10); let n = n.max(1).min(10);
let j = random::<usize>() % n; let j = random::<usize>() % n;
let m = RandomSDP::new(Dynamic::new(n), || random::<$scalar>().0).unwrap(); let m = RandomSDP::new(Dynamic::new(n), || random::<$scalar>().0).unwrap();
@ -127,7 +131,7 @@ macro_rules! gen_tests(
// remove column from m // remove column from m
let m_updated = m.remove_column(j).remove_row(j); let m_updated = m.remove_column(j).remove_row(j);
relative_eq!(m_updated, m_chol_updated, epsilon = 1.0e-7) prop_assert!(relative_eq!(m_updated, m_chol_updated, epsilon = 1.0e-7));
} }
} }
} }

109
tests/linalg/col_piv_qr.rs
View File

@ -22,133 +22,124 @@ fn col_piv_qr() {
assert!(relative_eq!(m, qr, epsilon = 1.0e-7)); assert!(relative_eq!(m, qr, epsilon = 1.0e-7));
} }
#[cfg(feature = "arbitrary")] #[cfg(feature = "proptest-support")]
mod quickcheck_tests { mod proptest_tests {
macro_rules! gen_tests( macro_rules! gen_tests(
($module: ident, $scalar: ty) => { ($module: ident, $scalar: expr ,$scalar_type: ty) => {
mod $module { mod $module {
use na::{DMatrix, DVector, Matrix3x5, Matrix4, Matrix4x3, Matrix5x3, Vector4}; use na::{DMatrix, DVector, Matrix4x3, Vector4};
use std::cmp; use std::cmp;
#[allow(unused_imports)]
use crate::core::helper::{RandScalar, RandComplex};
quickcheck! { #[allow(unused_imports)]
fn col_piv_qr(m: DMatrix<$scalar>) -> bool { use crate::core::helper::{RandComplex, RandScalar};
let m = m.map(|e| e.0); use crate::proptest::*;
use proptest::{prop_assert, proptest};
proptest! {
#[test]
fn col_piv_qr(m in dmatrix_($scalar)) {
let col_piv_qr = m.clone().col_piv_qr(); let col_piv_qr = m.clone().col_piv_qr();
let (q, r, p) = col_piv_qr.unpack(); let (q, r, p) = col_piv_qr.unpack();
let mut qr = &q * &r; let mut qr = &q * &r;
p.inv_permute_columns(&mut qr); p.inv_permute_columns(&mut qr);
println!("m: {}", m); prop_assert!(relative_eq!(m, &qr, epsilon = 1.0e-7));
println!("col_piv_qr: {}", &q * &r); prop_assert!(q.is_orthogonal(1.0e-7));
relative_eq!(m, &qr, epsilon = 1.0e-7) &&
q.is_orthogonal(1.0e-7)
} }
fn col_piv_qr_static_5_3(m: Matrix5x3<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn col_piv_qr_static_5_3(m in matrix5x3_($scalar)) {
let col_piv_qr = m.col_piv_qr(); let col_piv_qr = m.col_piv_qr();
let (q, r, p) = col_piv_qr.unpack(); let (q, r, p) = col_piv_qr.unpack();
let mut qr = q * r; let mut qr = q * r;
p.inv_permute_columns(&mut qr); p.inv_permute_columns(&mut qr);
relative_eq!(m, qr, epsilon = 1.0e-7) && prop_assert!(relative_eq!(m, qr, epsilon = 1.0e-7));
q.is_orthogonal(1.0e-7) prop_assert!(q.is_orthogonal(1.0e-7));
} }
fn col_piv_qr_static_3_5(m: Matrix3x5<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn col_piv_qr_static_3_5(m in matrix3x5_($scalar)) {
let col_piv_qr = m.col_piv_qr(); let col_piv_qr = m.col_piv_qr();
let (q, r, p) = col_piv_qr.unpack(); let (q, r, p) = col_piv_qr.unpack();
let mut qr = q * r; let mut qr = q * r;
p.inv_permute_columns(&mut qr); p.inv_permute_columns(&mut qr);
relative_eq!(m, qr, epsilon = 1.0e-7) && prop_assert!(relative_eq!(m, qr, epsilon = 1.0e-7));
q.is_orthogonal(1.0e-7) prop_assert!(q.is_orthogonal(1.0e-7));
} }
fn col_piv_qr_static_square(m: Matrix4<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn col_piv_qr_static_square(m in matrix4_($scalar)) {
let col_piv_qr = m.col_piv_qr(); let col_piv_qr = m.col_piv_qr();
let (q, r, p) = col_piv_qr.unpack(); let (q, r, p) = col_piv_qr.unpack();
let mut qr = q * r; let mut qr = q * r;
p.inv_permute_columns(&mut qr); p.inv_permute_columns(&mut qr);
println!("{}{}{}{}", q, r, qr, m); prop_assert!(relative_eq!(m, qr, epsilon = 1.0e-7));
prop_assert!(q.is_orthogonal(1.0e-7));
relative_eq!(m, qr, epsilon = 1.0e-7) &&
q.is_orthogonal(1.0e-7)
} }
fn col_piv_qr_solve(n: usize, nb: usize) -> bool { #[test]
fn col_piv_qr_solve(n in PROPTEST_MATRIX_DIM, nb in PROPTEST_MATRIX_DIM) {
if n != 0 && nb != 0 { if n != 0 && nb != 0 {
let n = cmp::min(n, 50); // To avoid slowing down the test too much. let n = cmp::min(n, 50); // To avoid slowing down the test too much.
let nb = cmp::min(nb, 50); // To avoid slowing down the test too much. let nb = cmp::min(nb, 50); // To avoid slowing down the test too much.
let m = DMatrix::<$scalar>::new_random(n, n).map(|e| e.0); let m = DMatrix::<$scalar_type>::new_random(n, n).map(|e| e.0);
let col_piv_qr = m.clone().col_piv_qr(); let col_piv_qr = m.clone().col_piv_qr();
let b1 = DVector::<$scalar>::new_random(n).map(|e| e.0); let b1 = DVector::<$scalar_type>::new_random(n).map(|e| e.0);
let b2 = DMatrix::<$scalar>::new_random(n, nb).map(|e| e.0); let b2 = DMatrix::<$scalar_type>::new_random(n, nb).map(|e| e.0);
if col_piv_qr.is_invertible() { if col_piv_qr.is_invertible() {
let sol1 = col_piv_qr.solve(&b1).unwrap(); let sol1 = col_piv_qr.solve(&b1).unwrap();
let sol2 = col_piv_qr.solve(&b2).unwrap(); let sol2 = col_piv_qr.solve(&b2).unwrap();
return relative_eq!(&m * sol1, b1, epsilon = 1.0e-6) && prop_assert!(relative_eq!(&m * sol1, b1, epsilon = 1.0e-6));
relative_eq!(&m * sol2, b2, epsilon = 1.0e-6) prop_assert!(relative_eq!(&m * sol2, b2, epsilon = 1.0e-6));
} }
} }
return true;
} }
fn col_piv_qr_solve_static(m: Matrix4<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn col_piv_qr_solve_static(m in matrix4_($scalar)) {
let col_piv_qr = m.col_piv_qr(); let col_piv_qr = m.col_piv_qr();
let b1 = Vector4::<$scalar>::new_random().map(|e| e.0); let b1 = Vector4::<$scalar_type>::new_random().map(|e| e.0);
let b2 = Matrix4x3::<$scalar>::new_random().map(|e| e.0); let b2 = Matrix4x3::<$scalar_type>::new_random().map(|e| e.0);
if col_piv_qr.is_invertible() { if col_piv_qr.is_invertible() {
let sol1 = col_piv_qr.solve(&b1).unwrap(); let sol1 = col_piv_qr.solve(&b1).unwrap();
let sol2 = col_piv_qr.solve(&b2).unwrap(); let sol2 = col_piv_qr.solve(&b2).unwrap();
relative_eq!(m * sol1, b1, epsilon = 1.0e-6) && prop_assert!(relative_eq!(m * sol1, b1, epsilon = 1.0e-6));
relative_eq!(m * sol2, b2, epsilon = 1.0e-6) prop_assert!(relative_eq!(m * sol2, b2, epsilon = 1.0e-6));
}
else {
false
} }
} }
fn col_piv_qr_inverse(n: usize) -> bool { #[test]
fn col_piv_qr_inverse(n in PROPTEST_MATRIX_DIM) {
let n = cmp::max(1, cmp::min(n, 15)); // To avoid slowing down the test too much. let n = cmp::max(1, cmp::min(n, 15)); // To avoid slowing down the test too much.
let m = DMatrix::<$scalar>::new_random(n, n).map(|e| e.0); let m = DMatrix::<$scalar_type>::new_random(n, n).map(|e| e.0);
if let Some(m1) = m.clone().col_piv_qr().try_inverse() { if let Some(m1) = m.clone().col_piv_qr().try_inverse() {
let id1 = &m * &m1; let id1 = &m * &m1;
let id2 = &m1 * &m; let id2 = &m1 * &m;
id1.is_identity(1.0e-5) && id2.is_identity(1.0e-5) prop_assert!(id1.is_identity(1.0e-5));
} prop_assert!(id2.is_identity(1.0e-5));
else {
true
} }
} }
fn col_piv_qr_inverse_static(m: Matrix4<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn col_piv_qr_inverse_static(m in matrix4_($scalar)) {
let col_piv_qr = m.col_piv_qr(); let col_piv_qr = m.col_piv_qr();
if let Some(m1) = col_piv_qr.try_inverse() { if let Some(m1) = col_piv_qr.try_inverse() {
let id1 = &m * &m1; let id1 = &m * &m1;
let id2 = &m1 * &m; let id2 = &m1 * &m;
id1.is_identity(1.0e-5) && id2.is_identity(1.0e-5) prop_assert!(id1.is_identity(1.0e-5));
} prop_assert!(id2.is_identity(1.0e-5));
else {
true
} }
} }
} }
@ -156,6 +147,6 @@ mod quickcheck_tests {
} }
); );
gen_tests!(complex, RandComplex<f64>); gen_tests!(complex, complex_f64(), RandComplex<f64>);
gen_tests!(f64, RandScalar<f64>); gen_tests!(f64, PROPTEST_F64, RandScalar<f64>);
} }

52
tests/linalg/eigen.rs
View File

@ -1,66 +1,74 @@
use na::DMatrix; use na::DMatrix;
#[cfg(feature = "arbitrary")] #[cfg(feature = "proptest-support")]
mod quickcheck_tests { mod proptest_tests {
macro_rules! gen_tests( macro_rules! gen_tests(
($module: ident, $scalar: ty) => { ($module: ident, $scalar: expr, $scalar_type: ty) => {
mod $module { mod $module {
use na::{DMatrix, Matrix2, Matrix3, Matrix4}; use na::DMatrix;
#[allow(unused_imports)] #[allow(unused_imports)]
use crate::core::helper::{RandScalar, RandComplex}; use crate::core::helper::{RandScalar, RandComplex};
use std::cmp; use std::cmp;
quickcheck! { use crate::proptest::*;
fn symmetric_eigen(n: usize) -> bool { use proptest::{prop_assert, proptest};
proptest! {
#[test]
fn symmetric_eigen(n in PROPTEST_MATRIX_DIM) {
let n = cmp::max(1, cmp::min(n, 10)); let n = cmp::max(1, cmp::min(n, 10));
let m = DMatrix::<$scalar>::new_random(n, n).map(|e| e.0).hermitian_part(); let m = DMatrix::<$scalar_type>::new_random(n, n).map(|e| e.0).hermitian_part();
let eig = m.clone().symmetric_eigen(); let eig = m.clone().symmetric_eigen();
let recomp = eig.recompose(); let recomp = eig.recompose();
relative_eq!(m.lower_triangle(), recomp.lower_triangle(), epsilon = 1.0e-5) prop_assert!(relative_eq!(m.lower_triangle(), recomp.lower_triangle(), epsilon = 1.0e-5))
} }
fn symmetric_eigen_singular(n: usize) -> bool { #[test]
fn symmetric_eigen_singular(n in PROPTEST_MATRIX_DIM) {
let n = cmp::max(1, cmp::min(n, 10)); let n = cmp::max(1, cmp::min(n, 10));
let mut m = DMatrix::<$scalar>::new_random(n, n).map(|e| e.0).hermitian_part(); let mut m = DMatrix::<$scalar_type>::new_random(n, n).map(|e| e.0).hermitian_part();
m.row_mut(n / 2).fill(na::zero()); m.row_mut(n / 2).fill(na::zero());
m.column_mut(n / 2).fill(na::zero()); m.column_mut(n / 2).fill(na::zero());
let eig = m.clone().symmetric_eigen(); let eig = m.clone().symmetric_eigen();
let recomp = eig.recompose(); let recomp = eig.recompose();
relative_eq!(m.lower_triangle(), recomp.lower_triangle(), epsilon = 1.0e-5) prop_assert!(relative_eq!(m.lower_triangle(), recomp.lower_triangle(), epsilon = 1.0e-5))
} }
fn symmetric_eigen_static_square_4x4(m: Matrix4<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0).hermitian_part(); fn symmetric_eigen_static_square_4x4(m in matrix4_($scalar)) {
let m = m.hermitian_part();
let eig = m.symmetric_eigen(); let eig = m.symmetric_eigen();
let recomp = eig.recompose(); let recomp = eig.recompose();
relative_eq!(m.lower_triangle(), recomp.lower_triangle(), epsilon = 1.0e-5) prop_assert!(relative_eq!(m.lower_triangle(), recomp.lower_triangle(), epsilon = 1.0e-5))
} }
fn symmetric_eigen_static_square_3x3(m: Matrix3<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0).hermitian_part(); fn symmetric_eigen_static_square_3x3(m in matrix3_($scalar)) {
let m = m.hermitian_part();
let eig = m.symmetric_eigen(); let eig = m.symmetric_eigen();
let recomp = eig.recompose(); let recomp = eig.recompose();
relative_eq!(m.lower_triangle(), recomp.lower_triangle(), epsilon = 1.0e-5) prop_assert!(relative_eq!(m.lower_triangle(), recomp.lower_triangle(), epsilon = 1.0e-5))
} }
fn symmetric_eigen_static_square_2x2(m: Matrix2<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0).hermitian_part(); fn symmetric_eigen_static_square_2x2(m in matrix2_($scalar)) {
let m = m.hermitian_part();
let eig = m.symmetric_eigen(); let eig = m.symmetric_eigen();
let recomp = eig.recompose(); let recomp = eig.recompose();
relative_eq!(m.lower_triangle(), recomp.lower_triangle(), epsilon = 1.0e-5) prop_assert!(relative_eq!(m.lower_triangle(), recomp.lower_triangle(), epsilon = 1.0e-5))
} }
} }
} }
} }
); );
gen_tests!(complex, RandComplex<f64>); gen_tests!(complex, complex_f64(), RandComplex<f64>);
gen_tests!(f64, RandScalar<f64>); gen_tests!(f64, PROPTEST_F64, RandScalar<f64>);
} }
// Test proposed on the issue #176 of rulinalg. // Test proposed on the issue #176 of rulinalg.

1
tests/linalg/exp.rs
View File

@ -71,7 +71,6 @@ mod tests {
let m22 = ad_2.exp() * (delta * delta_2.cosh() + (d - a) * delta_2.sinh()); let m22 = ad_2.exp() * (delta * delta_2.cosh() + (d - a) * delta_2.sinh());
let f = Matrix2::new(m11, m12, m21, m22) / delta; let f = Matrix2::new(m11, m12, m21, m22) / delta;
println!("a: {}", m);
assert!(relative_eq!(f, m.exp(), epsilon = 1.0e-7)); assert!(relative_eq!(f, m.exp(), epsilon = 1.0e-7));
break; break;
} }

96
tests/linalg/full_piv_lu.rs
View File

@ -40,101 +40,96 @@ fn full_piv_lu_simple_with_pivot() {
} }
#[cfg(feature = "arbitrary")] #[cfg(feature = "arbitrary")]
mod quickcheck_tests { mod proptest_tests {
macro_rules! gen_tests( macro_rules! gen_tests(
($module: ident, $scalar: ty) => { ($module: ident, $scalar: expr, $scalar_type: ty) => {
mod $module { mod $module {
use std::cmp; use std::cmp;
use num::One; use num::One;
use na::{DMatrix, Matrix4, Matrix4x3, Matrix5x3, Matrix3x5, DVector, Vector4}; use na::{DMatrix, Matrix4x3, DVector, Vector4};
#[allow(unused_imports)] #[allow(unused_imports)]
use crate::core::helper::{RandScalar, RandComplex}; use crate::core::helper::{RandScalar, RandComplex};
quickcheck! { use crate::proptest::*;
fn full_piv_lu(m: DMatrix<$scalar>) -> bool { use proptest::{prop_assert, proptest};
let mut m = m.map(|e| e.0);
if m.len() == 0 {
m = DMatrix::<$scalar>::new_random(1, 1).map(|e| e.0);
}
proptest! {
#[test]
fn full_piv_lu(m in dmatrix_($scalar)) {
let lu = m.clone().full_piv_lu(); let lu = m.clone().full_piv_lu();
let (p, l, u, q) = lu.unpack(); let (p, l, u, q) = lu.unpack();
let mut lu = l * u; let mut lu = l * u;
p.inv_permute_rows(&mut lu); p.inv_permute_rows(&mut lu);
q.inv_permute_columns(&mut lu); q.inv_permute_columns(&mut lu);
relative_eq!(m, lu, epsilon = 1.0e-7) prop_assert!(relative_eq!(m, lu, epsilon = 1.0e-7))
} }
fn full_piv_lu_static_3_5(m: Matrix3x5<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn full_piv_lu_static_3_5(m in matrix3x5_($scalar)) {
let lu = m.full_piv_lu(); let lu = m.full_piv_lu();
let (p, l, u, q) = lu.unpack(); let (p, l, u, q) = lu.unpack();
let mut lu = l * u; let mut lu = l * u;
p.inv_permute_rows(&mut lu); p.inv_permute_rows(&mut lu);
q.inv_permute_columns(&mut lu); q.inv_permute_columns(&mut lu);
relative_eq!(m, lu, epsilon = 1.0e-7) prop_assert!(relative_eq!(m, lu, epsilon = 1.0e-7))
} }
fn full_piv_lu_static_5_3(m: Matrix5x3<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn full_piv_lu_static_5_3(m in matrix5x3_($scalar)) {
let lu = m.full_piv_lu(); let lu = m.full_piv_lu();
let (p, l, u, q) = lu.unpack(); let (p, l, u, q) = lu.unpack();
let mut lu = l * u; let mut lu = l * u;
p.inv_permute_rows(&mut lu); p.inv_permute_rows(&mut lu);
q.inv_permute_columns(&mut lu); q.inv_permute_columns(&mut lu);
relative_eq!(m, lu, epsilon = 1.0e-7) prop_assert!(relative_eq!(m, lu, epsilon = 1.0e-7))
} }
fn full_piv_lu_static_square(m: Matrix4<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn full_piv_lu_static_square(m in matrix4_($scalar)) {
let lu = m.full_piv_lu(); let lu = m.full_piv_lu();
let (p, l, u, q) = lu.unpack(); let (p, l, u, q) = lu.unpack();
let mut lu = l * u; let mut lu = l * u;
p.inv_permute_rows(&mut lu); p.inv_permute_rows(&mut lu);
q.inv_permute_columns(&mut lu); q.inv_permute_columns(&mut lu);
relative_eq!(m, lu, epsilon = 1.0e-7) prop_assert!(relative_eq!(m, lu, epsilon = 1.0e-7))
} }
fn full_piv_lu_solve(n: usize, nb: usize) -> bool { #[test]
if n != 0 && nb != 0 { fn full_piv_lu_solve(n in PROPTEST_MATRIX_DIM, nb in PROPTEST_MATRIX_DIM) {
let n = cmp::min(n, 50); // To avoid slowing down the test too much. let m = DMatrix::<$scalar_type>::new_random(n, n).map(|e| e.0);
let nb = cmp::min(nb, 50); // To avoid slowing down the test too much.
let m = DMatrix::<$scalar>::new_random(n, n).map(|e| e.0);
let lu = m.clone().full_piv_lu(); let lu = m.clone().full_piv_lu();
let b1 = DVector::<$scalar>::new_random(n).map(|e| e.0); let b1 = DVector::<$scalar_type>::new_random(n).map(|e| e.0);
let b2 = DMatrix::<$scalar>::new_random(n, nb).map(|e| e.0); let b2 = DMatrix::<$scalar_type>::new_random(n, nb).map(|e| e.0);
let sol1 = lu.solve(&b1); let sol1 = lu.solve(&b1);
let sol2 = lu.solve(&b2); let sol2 = lu.solve(&b2);
return (sol1.is_none() || relative_eq!(&m * sol1.unwrap(), b1, epsilon = 1.0e-6)) && prop_assert!(sol1.is_none() || relative_eq!(&m * sol1.unwrap(), b1, epsilon = 1.0e-6));
(sol2.is_none() || relative_eq!(&m * sol2.unwrap(), b2, epsilon = 1.0e-6)) prop_assert!(sol2.is_none() || relative_eq!(&m * sol2.unwrap(), b2, epsilon = 1.0e-6));
}
return true;
} }
fn full_piv_lu_solve_static(m: Matrix4<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn full_piv_lu_solve_static(m in matrix4_($scalar)) {
let lu = m.full_piv_lu(); let lu = m.full_piv_lu();
let b1 = Vector4::<$scalar>::new_random().map(|e| e.0); let b1 = Vector4::<$scalar_type>::new_random().map(|e| e.0);
let b2 = Matrix4x3::<$scalar>::new_random().map(|e| e.0); let b2 = Matrix4x3::<$scalar_type>::new_random().map(|e| e.0);
let sol1 = lu.solve(&b1); let sol1 = lu.solve(&b1);
let sol2 = lu.solve(&b2); let sol2 = lu.solve(&b2);
return (sol1.is_none() || relative_eq!(&m * sol1.unwrap(), b1, epsilon = 1.0e-6)) && prop_assert!(sol1.is_none() || relative_eq!(&m * sol1.unwrap(), b1, epsilon = 1.0e-6));
(sol2.is_none() || relative_eq!(&m * sol2.unwrap(), b2, epsilon = 1.0e-6)) prop_assert!(sol2.is_none() || relative_eq!(&m * sol2.unwrap(), b2, epsilon = 1.0e-6));
} }
fn full_piv_lu_inverse(n: usize) -> bool { #[test]
fn full_piv_lu_inverse(n in PROPTEST_MATRIX_DIM) {
let n = cmp::max(1, cmp::min(n, 15)); // To avoid slowing down the test too much. let n = cmp::max(1, cmp::min(n, 15)); // To avoid slowing down the test too much.
let m = DMatrix::<$scalar>::new_random(n, n).map(|e| e.0); let m = DMatrix::<$scalar_type>::new_random(n, n).map(|e| e.0);
let mut l = m.lower_triangle(); let mut l = m.lower_triangle();
let mut u = m.upper_triangle(); let mut u = m.upper_triangle();
@ -148,21 +143,20 @@ mod quickcheck_tests {
let id1 = &m * &m1; let id1 = &m * &m1;
let id2 = &m1 * &m; let id2 = &m1 * &m;
return id1.is_identity(1.0e-5) && id2.is_identity(1.0e-5); prop_assert!(id1.is_identity(1.0e-5));
prop_assert!(id2.is_identity(1.0e-5));
} }
fn full_piv_lu_inverse_static(m: Matrix4<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn full_piv_lu_inverse_static(m in matrix4_($scalar)) {
let lu = m.full_piv_lu(); let lu = m.full_piv_lu();
if let Some(m1) = lu.try_inverse() { if let Some(m1) = lu.try_inverse() {
let id1 = &m * &m1; let id1 = &m * &m1;
let id2 = &m1 * &m; let id2 = &m1 * &m;
id1.is_identity(1.0e-5) && id2.is_identity(1.0e-5) prop_assert!(id1.is_identity(1.0e-5));
} prop_assert!(id2.is_identity(1.0e-5));
else {
true
} }
} }
} }
@ -170,8 +164,8 @@ mod quickcheck_tests {
} }
); );
gen_tests!(complex, RandComplex<f64>); gen_tests!(complex, complex_f64(), RandComplex<f64>);
gen_tests!(f64, RandScalar<f64>); gen_tests!(f64, PROPTEST_F64, RandScalar<f64>);
} }
/* /*

35
tests/linalg/hessenberg.rs
View File

@ -1,4 +1,4 @@
#![cfg(feature = "arbitrary")] #![cfg(feature = "proptest-support")]
use na::Matrix2; use na::Matrix2;
@ -11,40 +11,41 @@ fn hessenberg_simple() {
} }
macro_rules! gen_tests( macro_rules! gen_tests(
($module: ident, $scalar: ty) => { ($module: ident, $scalar: expr, $scalar_type: ty) => {
mod $module { mod $module {
use na::{DMatrix, Matrix2, Matrix4}; use na::DMatrix;
use std::cmp;
#[allow(unused_imports)] #[allow(unused_imports)]
use crate::core::helper::{RandScalar, RandComplex}; use crate::core::helper::{RandScalar, RandComplex};
quickcheck! { use crate::proptest::*;
fn hessenberg(n: usize) -> bool { use proptest::{prop_assert, proptest};
let n = cmp::max(1, cmp::min(n, 50));
let m = DMatrix::<$scalar>::new_random(n, n).map(|e| e.0);
proptest! {
#[test]
fn hessenberg(n in PROPTEST_MATRIX_DIM) {
let m = DMatrix::<$scalar_type>::new_random(n, n).map(|e| e.0);
let hess = m.clone().hessenberg(); let hess = m.clone().hessenberg();
let (p, h) = hess.unpack(); let (p, h) = hess.unpack();
relative_eq!(m, &p * h * p.adjoint(), epsilon = 1.0e-7) prop_assert!(relative_eq!(m, &p * h * p.adjoint(), epsilon = 1.0e-7))
} }
fn hessenberg_static_mat2(m: Matrix2<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn hessenberg_static_mat2(m in matrix2_($scalar)) {
let hess = m.hessenberg(); let hess = m.hessenberg();
let (p, h) = hess.unpack(); let (p, h) = hess.unpack();
relative_eq!(m, p * h * p.adjoint(), epsilon = 1.0e-7) prop_assert!(relative_eq!(m, p * h * p.adjoint(), epsilon = 1.0e-7))
} }
fn hessenberg_static(m: Matrix4<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn hessenberg_static(m in matrix4_($scalar)) {
let hess = m.hessenberg(); let hess = m.hessenberg();
let (p, h) = hess.unpack(); let (p, h) = hess.unpack();
relative_eq!(m, p * h * p.adjoint(), epsilon = 1.0e-7) prop_assert!(relative_eq!(m, p * h * p.adjoint(), epsilon = 1.0e-7))
} }
} }
} }
} }
); );
gen_tests!(complex, RandComplex<f64>); gen_tests!(complex, complex_f64(), RandComplex<f64>);
gen_tests!(f64, RandScalar<f64>); gen_tests!(f64, PROPTEST_F64, RandScalar<f64>);

106
tests/linalg/lu.rs
View File

@ -38,103 +38,88 @@ fn lu_simple_with_pivot() {
assert!(relative_eq!(m, lu, epsilon = 1.0e-7)); assert!(relative_eq!(m, lu, epsilon = 1.0e-7));
} }
#[cfg(feature = "arbitrary")] #[cfg(feature = "proptest-support")]
mod quickcheck_tests { mod proptest_tests {
#[allow(unused_imports)]
use crate::core::helper::{RandComplex, RandScalar};
macro_rules! gen_tests( macro_rules! gen_tests(
($module: ident, $scalar: ty) => { ($module: ident, $scalar: expr, $scalar_type: ty) => {
mod $module { mod $module {
use std::cmp; use na::{DMatrix, Matrix4x3, DVector, Vector4};
use na::{DMatrix, Matrix4, Matrix4x3, Matrix5x3, Matrix3x5, DVector, Vector4};
#[allow(unused_imports)] #[allow(unused_imports)]
use crate::core::helper::{RandScalar, RandComplex}; use crate::core::helper::{RandScalar, RandComplex};
use crate::proptest::*;
use proptest::{prop_assert, proptest};
quickcheck! { proptest! {
fn lu(m: DMatrix<$scalar>) -> bool { #[test]
let mut m = m; fn lu(m in dmatrix_($scalar)) {
if m.len() == 0 {
m = DMatrix::<$scalar>::new_random(1, 1);
}
let m = m.map(|e| e.0);
let lu = m.clone().lu(); let lu = m.clone().lu();
let (p, l, u) = lu.unpack(); let (p, l, u) = lu.unpack();
let mut lu = l * u; let mut lu = l * u;
p.inv_permute_rows(&mut lu); p.inv_permute_rows(&mut lu);
relative_eq!(m, lu, epsilon = 1.0e-7) prop_assert!(relative_eq!(m, lu, epsilon = 1.0e-7))
} }
fn lu_static_3_5(m: Matrix3x5<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn lu_static_3_5(m in matrix3x5_($scalar)) {
let lu = m.lu(); let lu = m.lu();
let (p, l, u) = lu.unpack(); let (p, l, u) = lu.unpack();
let mut lu = l * u; let mut lu = l * u;
p.inv_permute_rows(&mut lu); p.inv_permute_rows(&mut lu);
relative_eq!(m, lu, epsilon = 1.0e-7) prop_assert!(relative_eq!(m, lu, epsilon = 1.0e-7))
} }
fn lu_static_5_3(m: Matrix5x3<$scalar>) -> bool { fn lu_static_5_3(m in matrix5x3_($scalar)) {
let m = m.map(|e| e.0);
let lu = m.lu(); let lu = m.lu();
let (p, l, u) = lu.unpack(); let (p, l, u) = lu.unpack();
let mut lu = l * u; let mut lu = l * u;
p.inv_permute_rows(&mut lu); p.inv_permute_rows(&mut lu);
relative_eq!(m, lu, epsilon = 1.0e-7) prop_assert!(relative_eq!(m, lu, epsilon = 1.0e-7));
} }
fn lu_static_square(m: Matrix4<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn lu_static_square(m in matrix4_($scalar)) {
let lu = m.lu(); let lu = m.lu();
let (p, l, u) = lu.unpack(); let (p, l, u) = lu.unpack();
let mut lu = l * u; let mut lu = l * u;
p.inv_permute_rows(&mut lu); p.inv_permute_rows(&mut lu);
relative_eq!(m, lu, epsilon = 1.0e-7) prop_assert!(relative_eq!(m, lu, epsilon = 1.0e-7));
} }
fn lu_solve(n: usize, nb: usize) -> bool { #[test]
if n != 0 && nb != 0 { fn lu_solve(n in PROPTEST_MATRIX_DIM, nb in PROPTEST_MATRIX_DIM) {
let n = cmp::min(n, 50); // To avoid slowing down the test too much. let m = DMatrix::<$scalar_type>::new_random(n, n).map(|e| e.0);
let nb = cmp::min(nb, 50); // To avoid slowing down the test too much.
let m = DMatrix::<$scalar>::new_random(n, n).map(|e| e.0);
let lu = m.clone().lu(); let lu = m.clone().lu();
let b1 = DVector::<$scalar>::new_random(n).map(|e| e.0); let b1 = DVector::<$scalar_type>::new_random(n).map(|e| e.0);
let b2 = DMatrix::<$scalar>::new_random(n, nb).map(|e| e.0); let b2 = DMatrix::<$scalar_type>::new_random(n, nb).map(|e| e.0);
let sol1 = lu.solve(&b1); let sol1 = lu.solve(&b1);
let sol2 = lu.solve(&b2); let sol2 = lu.solve(&b2);
return (sol1.is_none() || relative_eq!(&m * sol1.unwrap(), b1, epsilon = 1.0e-6)) && prop_assert!(sol1.is_none() || relative_eq!(&m * sol1.unwrap(), b1, epsilon = 1.0e-6));
(sol2.is_none() || relative_eq!(&m * sol2.unwrap(), b2, epsilon = 1.0e-6)) prop_assert!(sol2.is_none() || relative_eq!(&m * sol2.unwrap(), b2, epsilon = 1.0e-6));
}
return true;
} }
fn lu_solve_static(m: Matrix4<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn lu_solve_static(m in matrix4_($scalar)) {
let lu = m.lu(); let lu = m.lu();
let b1 = Vector4::<$scalar>::new_random().map(|e| e.0); let b1 = Vector4::<$scalar_type>::new_random().map(|e| e.0);
let b2 = Matrix4x3::<$scalar>::new_random().map(|e| e.0); let b2 = Matrix4x3::<$scalar_type>::new_random().map(|e| e.0);
let sol1 = lu.solve(&b1); let sol1 = lu.solve(&b1);
let sol2 = lu.solve(&b2); let sol2 = lu.solve(&b2);
return (sol1.is_none() || relative_eq!(&m * sol1.unwrap(), b1, epsilon = 1.0e-6)) && prop_assert!(sol1.is_none() || relative_eq!(&m * sol1.unwrap(), b1, epsilon = 1.0e-6));
(sol2.is_none() || relative_eq!(&m * sol2.unwrap(), b2, epsilon = 1.0e-6)) prop_assert!(sol2.is_none() || relative_eq!(&m * sol2.unwrap(), b2, epsilon = 1.0e-6));
} }
fn lu_inverse(n: usize) -> bool { #[test]
let n = cmp::max(1, cmp::min(n, 15)); // To avoid slowing down the test too much. fn lu_inverse(n in PROPTEST_MATRIX_DIM) {
let m = DMatrix::<$scalar>::new_random(n, n).map(|e| e.0); let m = DMatrix::<$scalar_type>::new_random(n, n).map(|e| e.0);
let mut l = m.lower_triangle(); let mut l = m.lower_triangle();
let mut u = m.upper_triangle(); let mut u = m.upper_triangle();
@ -147,21 +132,20 @@ mod quickcheck_tests {
let id1 = &m * &m1; let id1 = &m * &m1;
let id2 = &m1 * &m; let id2 = &m1 * &m;
return id1.is_identity(1.0e-5) && id2.is_identity(1.0e-5); prop_assert!(id1.is_identity(1.0e-5));
prop_assert!(id2.is_identity(1.0e-5));
} }
fn lu_inverse_static(m: Matrix4<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn lu_inverse_static(m in matrix4_($scalar)) {
let lu = m.lu(); let lu = m.lu();
if let Some(m1) = lu.try_inverse() { if let Some(m1) = lu.try_inverse() {
let id1 = &m * &m1; let id1 = &m * &m1;
let id2 = &m1 * &m; let id2 = &m1 * &m;
id1.is_identity(1.0e-5) && id2.is_identity(1.0e-5) prop_assert!(id1.is_identity(1.0e-5));
} prop_assert!(id2.is_identity(1.0e-5));
else {
true
} }
} }
} }
@ -169,6 +153,6 @@ mod quickcheck_tests {
} }
); );
gen_tests!(complex, RandComplex<f64>); gen_tests!(complex, complex_f64(), RandComplex<f64>);
gen_tests!(f64, RandScalar<f64>); gen_tests!(f64, PROPTEST_F64, RandScalar<f64>);
} }

114
tests/linalg/qr.rs
View File

@ -1,126 +1,112 @@
#![cfg(feature = "arbitrary")] #![cfg(feature = "proptest-support")]
macro_rules! gen_tests( macro_rules! gen_tests(
($module: ident, $scalar: ty) => { ($module: ident, $scalar: expr, $scalar_type: ty) => {
mod $module { mod $module {
use na::{DMatrix, DVector, Matrix3x5, Matrix4, Matrix4x3, Matrix5x3, Vector4}; use na::{DMatrix, DVector, Matrix4x3, Vector4};
use std::cmp; use std::cmp;
#[allow(unused_imports)] #[allow(unused_imports)]
use crate::core::helper::{RandScalar, RandComplex}; use crate::core::helper::{RandScalar, RandComplex};
use crate::proptest::*;
use proptest::{prop_assert, proptest};
quickcheck! { proptest! {
fn qr(m: DMatrix<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn qr(m in dmatrix_($scalar)) {
let qr = m.clone().qr(); let qr = m.clone().qr();
let q = qr.q(); let q = qr.q();
let r = qr.r(); let r = qr.r();
println!("m: {}", m); prop_assert!(relative_eq!(m, &q * r, epsilon = 1.0e-7));
println!("qr: {}", &q * &r); prop_assert!(q.is_orthogonal(1.0e-7));
relative_eq!(m, &q * r, epsilon = 1.0e-7) &&
q.is_orthogonal(1.0e-7)
} }
fn qr_static_5_3(m: Matrix5x3<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn qr_static_5_3(m in matrix5x3_($scalar)) {
let qr = m.qr(); let qr = m.qr();
let q = qr.q(); let q = qr.q();
let r = qr.r(); let r = qr.r();
relative_eq!(m, q * r, epsilon = 1.0e-7) && prop_assert!(relative_eq!(m, q * r, epsilon = 1.0e-7));
q.is_orthogonal(1.0e-7) prop_assert!(q.is_orthogonal(1.0e-7));
} }
fn qr_static_3_5(m: Matrix3x5<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn qr_static_3_5(m in matrix3x5_($scalar)) {
let qr = m.qr(); let qr = m.qr();
let q = qr.q(); let q = qr.q();
let r = qr.r(); let r = qr.r();
relative_eq!(m, q * r, epsilon = 1.0e-7) && prop_assert!(relative_eq!(m, q * r, epsilon = 1.0e-7));
q.is_orthogonal(1.0e-7) prop_assert!(q.is_orthogonal(1.0e-7));
} }
fn qr_static_square(m: Matrix4<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn qr_static_square(m in matrix4_($scalar)) {
let qr = m.qr(); let qr = m.qr();
let q = qr.q(); let q = qr.q();
let r = qr.r(); let r = qr.r();
println!("{}{}{}{}", q, r, q * r, m); prop_assert!(relative_eq!(m, q * r, epsilon = 1.0e-7));
prop_assert!(q.is_orthogonal(1.0e-7));
relative_eq!(m, q * r, epsilon = 1.0e-7) &&
q.is_orthogonal(1.0e-7)
} }
fn qr_solve(n: usize, nb: usize) -> bool { #[test]
if n != 0 && nb != 0 { fn qr_solve(n in PROPTEST_MATRIX_DIM, nb in PROPTEST_MATRIX_DIM) {
let n = cmp::min(n, 50); // To avoid slowing down the test too much. let m = DMatrix::<$scalar_type>::new_random(n, n).map(|e| e.0);
let nb = cmp::min(nb, 50); // To avoid slowing down the test too much.
let m = DMatrix::<$scalar>::new_random(n, n).map(|e| e.0);
let qr = m.clone().qr(); let qr = m.clone().qr();
let b1 = DVector::<$scalar>::new_random(n).map(|e| e.0); let b1 = DVector::<$scalar_type>::new_random(n).map(|e| e.0);
let b2 = DMatrix::<$scalar>::new_random(n, nb).map(|e| e.0); let b2 = DMatrix::<$scalar_type>::new_random(n, nb).map(|e| e.0);
if qr.is_invertible() { if qr.is_invertible() {
let sol1 = qr.solve(&b1).unwrap(); let sol1 = qr.solve(&b1).unwrap();
let sol2 = qr.solve(&b2).unwrap(); let sol2 = qr.solve(&b2).unwrap();
return relative_eq!(&m * sol1, b1, epsilon = 1.0e-6) && prop_assert!(relative_eq!(&m * sol1, b1, epsilon = 1.0e-6));
relative_eq!(&m * sol2, b2, epsilon = 1.0e-6) prop_assert!(relative_eq!(&m * sol2, b2, epsilon = 1.0e-6));
}
} }
return true;
} }
fn qr_solve_static(m: Matrix4<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn qr_solve_static(m in matrix4_($scalar)) {
let qr = m.qr(); let qr = m.qr();
let b1 = Vector4::<$scalar>::new_random().map(|e| e.0); let b1 = Vector4::<$scalar_type>::new_random().map(|e| e.0);
let b2 = Matrix4x3::<$scalar>::new_random().map(|e| e.0); let b2 = Matrix4x3::<$scalar_type>::new_random().map(|e| e.0);
if qr.is_invertible() { if qr.is_invertible() {
let sol1 = qr.solve(&b1).unwrap(); let sol1 = qr.solve(&b1).unwrap();
let sol2 = qr.solve(&b2).unwrap(); let sol2 = qr.solve(&b2).unwrap();
relative_eq!(m * sol1, b1, epsilon = 1.0e-6) && prop_assert!(relative_eq!(m * sol1, b1, epsilon = 1.0e-6));
relative_eq!(m * sol2, b2, epsilon = 1.0e-6) prop_assert!(relative_eq!(m * sol2, b2, epsilon = 1.0e-6));
}
else {
false
} }
} }
fn qr_inverse(n: usize) -> bool { #[test]
fn qr_inverse(n in PROPTEST_MATRIX_DIM) {
let n = cmp::max(1, cmp::min(n, 15)); // To avoid slowing down the test too much. let n = cmp::max(1, cmp::min(n, 15)); // To avoid slowing down the test too much.
let m = DMatrix::<$scalar>::new_random(n, n).map(|e| e.0); let m = DMatrix::<$scalar_type>::new_random(n, n).map(|e| e.0);
if let Some(m1) = m.clone().qr().try_inverse() { if let Some(m1) = m.clone().qr().try_inverse() {
let id1 = &m * &m1; let id1 = &m * &m1;
let id2 = &m1 * &m; let id2 = &m1 * &m;
id1.is_identity(1.0e-5) && id2.is_identity(1.0e-5) prop_assert!(id1.is_identity(1.0e-5));
} prop_assert!(id2.is_identity(1.0e-5));
else {
true
} }
} }
fn qr_inverse_static(m: Matrix4<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn qr_inverse_static(m in matrix4_($scalar)) {
let qr = m.qr(); let qr = m.qr();
if let Some(m1) = qr.try_inverse() { if let Some(m1) = qr.try_inverse() {
let id1 = &m * &m1; let id1 = &m * &m1;
let id2 = &m1 * &m; let id2 = &m1 * &m;
id1.is_identity(1.0e-5) && id2.is_identity(1.0e-5) prop_assert!(id1.is_identity(1.0e-5));
} prop_assert!(id2.is_identity(1.0e-5));
else {
true
} }
} }
} }
@ -128,5 +114,5 @@ macro_rules! gen_tests(
} }
); );
gen_tests!(complex, RandComplex<f64>); gen_tests!(complex, complex_f64(), RandComplex<f64>);
gen_tests!(f64, RandScalar<f64>); gen_tests!(f64, PROPTEST_F64, RandScalar<f64>);

71
tests/linalg/schur.rs
View File

@ -4,8 +4,8 @@ use na::{DMatrix, Matrix3, Matrix4};
#[rustfmt::skip] #[rustfmt::skip]
fn schur_simpl_mat3() { fn schur_simpl_mat3() {
let m = Matrix3::new(-2.0, -4.0, 2.0, let m = Matrix3::new(-2.0, -4.0, 2.0,
-2.0, 1.0, 2.0, -2.0, 1.0, 2.0,
4.0, 2.0, 5.0); 4.0, 2.0, 5.0);
let schur = m.schur(); let schur = m.schur();
let (vecs, vals) = schur.unpack(); let (vecs, vals) = schur.unpack();
@ -13,72 +13,49 @@ fn schur_simpl_mat3() {
assert!(relative_eq!(vecs * vals * vecs.transpose(), m, epsilon = 1.0e-7)); assert!(relative_eq!(vecs * vals * vecs.transpose(), m, epsilon = 1.0e-7));
} }
#[cfg(feature = "arbitrary")] #[cfg(feature = "proptest-support")]
mod quickcheck_tests { mod proptest_tests {
macro_rules! gen_tests( macro_rules! gen_tests(
($module: ident, $scalar: ty) => { ($module: ident, $scalar: expr, $scalar_type: ty) => {
mod $module { mod $module {
use std::cmp; use na::DMatrix;
use na::{DMatrix, Matrix2, Matrix3, Matrix4};
#[allow(unused_imports)] #[allow(unused_imports)]
use crate::core::helper::{RandScalar, RandComplex}; use crate::core::helper::{RandScalar, RandComplex};
use crate::proptest::*;
use proptest::{prop_assert, proptest};
quickcheck! { proptest! {
fn schur(n: usize) -> bool { #[test]
let n = cmp::max(1, cmp::min(n, 10)); fn schur(n in PROPTEST_MATRIX_DIM) {
let m = DMatrix::<$scalar>::new_random(n, n).map(|e| e.0); let m = DMatrix::<$scalar_type>::new_random(n, n).map(|e| e.0);
let (vecs, vals) = m.clone().schur().unpack(); let (vecs, vals) = m.clone().schur().unpack();
prop_assert!(relative_eq!(&vecs * vals * vecs.adjoint(), m, epsilon = 1.0e-7));
if !relative_eq!(&vecs * &vals * vecs.adjoint(), m, epsilon = 1.0e-7) {
println!("{:.5}{:.5}", m, &vecs * &vals * vecs.adjoint());
}
relative_eq!(&vecs * vals * vecs.adjoint(), m, epsilon = 1.0e-7)
} }
fn schur_static_mat2(m: Matrix2<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn schur_static_mat2(m in matrix2_($scalar)) {
let (vecs, vals) = m.clone().schur().unpack(); let (vecs, vals) = m.clone().schur().unpack();
prop_assert!(relative_eq!(vecs * vals * vecs.adjoint(), m, epsilon = 1.0e-7));
let ok = relative_eq!(vecs * vals * vecs.adjoint(), m, epsilon = 1.0e-7);
if !ok {
println!("Vecs: {:.5} Vals: {:.5}", vecs, vals);
println!("Reconstruction:{}{}", m, &vecs * &vals * vecs.adjoint());
}
ok
} }
fn schur_static_mat3(m: Matrix3<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn schur_static_mat3(m in matrix3_($scalar)) {
let (vecs, vals) = m.clone().schur().unpack(); let (vecs, vals) = m.clone().schur().unpack();
prop_assert!(relative_eq!(vecs * vals * vecs.adjoint(), m, epsilon = 1.0e-7));
let ok = relative_eq!(vecs * vals * vecs.adjoint(), m, epsilon = 1.0e-7);
if !ok {
println!("Vecs: {:.5} Vals: {:.5}", vecs, vals);
println!("{:.5}{:.5}", m, &vecs * &vals * vecs.adjoint());
}
ok
} }
fn schur_static_mat4(m: Matrix4<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn schur_static_mat4(m in matrix4_($scalar)) {
let (vecs, vals) = m.clone().schur().unpack(); let (vecs, vals) = m.clone().schur().unpack();
prop_assert!(relative_eq!(vecs * vals * vecs.adjoint(), m, epsilon = 1.0e-7));
let ok = relative_eq!(vecs * vals * vecs.adjoint(), m, epsilon = 1.0e-7);
if !ok {
println!("{:.5}{:.5}", m, &vecs * &vals * vecs.adjoint());
}
ok
} }
} }
} }
} }
); );
gen_tests!(complex, RandComplex<f64>); gen_tests!(complex, complex_f64(), RandComplex<f64>);
gen_tests!(f64, RandScalar<f64>); gen_tests!(f64, PROPTEST_F64, RandScalar<f64>);
} }
#[test] #[test]

46
tests/linalg/solve.rs
View File

@ -1,11 +1,13 @@
#![cfg(feature = "arbitrary")] #![cfg(feature = "proptest-support")]
macro_rules! gen_tests( macro_rules! gen_tests(
($module: ident, $scalar: ty) => { ($module: ident, $scalar: expr) => {
mod $module { mod $module {
use na::{Matrix4, Matrix4x5, ComplexField}; use na::{Matrix4, ComplexField};
#[allow(unused_imports)] #[allow(unused_imports)]
use crate::core::helper::{RandScalar, RandComplex}; use crate::core::helper::{RandScalar, RandComplex};
use crate::proptest::*;
use proptest::{prop_assert, proptest};
fn unzero_diagonal<N: ComplexField>(a: &mut Matrix4<N>) { fn unzero_diagonal<N: ComplexField>(a: &mut Matrix4<N>) {
for i in 0..4 { for i in 0..4 {
@ -15,50 +17,50 @@ macro_rules! gen_tests(
} }
} }
quickcheck! { proptest! {
fn solve_lower_triangular(a: Matrix4<$scalar>, b: Matrix4x5<$scalar>) -> bool { #[test]
let b = b.map(|e| e.0); fn solve_lower_triangular(a in matrix4_($scalar), b in matrix4x5_($scalar)) {
let mut a = a.map(|e| e.0); let mut a = a;
unzero_diagonal(&mut a); unzero_diagonal(&mut a);
let tri = a.lower_triangle(); let tri = a.lower_triangle();
let x = a.solve_lower_triangular(&b).unwrap(); let x = a.solve_lower_triangular(&b).unwrap();
relative_eq!(tri * x, b, epsilon = 1.0e-7) prop_assert!(relative_eq!(tri * x, b, epsilon = 1.0e-7))
} }
fn solve_upper_triangular(a: Matrix4<$scalar>, b: Matrix4x5<$scalar>) -> bool { #[test]
let b = b.map(|e| e.0); fn solve_upper_triangular(a in matrix4_($scalar), b in matrix4x5_($scalar)) {
let mut a = a.map(|e| e.0); let mut a = a;
unzero_diagonal(&mut a); unzero_diagonal(&mut a);
let tri = a.upper_triangle(); let tri = a.upper_triangle();
let x = a.solve_upper_triangular(&b).unwrap(); let x = a.solve_upper_triangular(&b).unwrap();
relative_eq!(tri * x, b, epsilon = 1.0e-7) prop_assert!(relative_eq!(tri * x, b, epsilon = 1.0e-7))
} }
fn tr_solve_lower_triangular(a: Matrix4<$scalar>, b: Matrix4x5<$scalar>) -> bool { #[test]
let b = b.map(|e| e.0); fn tr_solve_lower_triangular(a in matrix4_($scalar), b in matrix4x5_($scalar)) {
let mut a = a.map(|e| e.0); let mut a = a;
unzero_diagonal(&mut a); unzero_diagonal(&mut a);
let tri = a.lower_triangle(); let tri = a.lower_triangle();
let x = a.tr_solve_lower_triangular(&b).unwrap(); let x = a.tr_solve_lower_triangular(&b).unwrap();
relative_eq!(tri.transpose() * x, b, epsilon = 1.0e-7) prop_assert!(relative_eq!(tri.transpose() * x, b, epsilon = 1.0e-7))
} }
fn tr_solve_upper_triangular(a: Matrix4<$scalar>, b: Matrix4x5<$scalar>) -> bool { #[test]
let b = b.map(|e| e.0); fn tr_solve_upper_triangular(a in matrix4_($scalar), b in matrix4x5_($scalar)) {
let mut a = a.map(|e| e.0); let mut a = a;
unzero_diagonal(&mut a); unzero_diagonal(&mut a);
let tri = a.upper_triangle(); let tri = a.upper_triangle();
let x = a.tr_solve_upper_triangular(&b).unwrap(); let x = a.tr_solve_upper_triangular(&b).unwrap();
relative_eq!(tri.transpose() * x, b, epsilon = 1.0e-7) prop_assert!(relative_eq!(tri.transpose() * x, b, epsilon = 1.0e-7))
} }
} }
} }
} }
); );
gen_tests!(complex, RandComplex<f64>); gen_tests!(complex, complex_f64());
gen_tests!(f64, RandScalar<f64>); gen_tests!(f64, PROPTEST_F64);

191
tests/linalg/svd.rs
View File

@ -1,162 +1,143 @@
use na::{DMatrix, Matrix6}; use na::{DMatrix, Matrix6};
#[cfg(feature = "arbitrary")] #[cfg(feature = "proptest-support")]
mod quickcheck_tests { mod proptest_tests {
macro_rules! gen_tests( macro_rules! gen_tests(
($module: ident, $scalar: ty) => { ($module: ident, $scalar: expr, $scalar_type: ty) => {
mod $module { mod $module {
use na::{ use na::{
DMatrix, DVector, Matrix2, Matrix2x5, Matrix3, Matrix3x5, Matrix4, Matrix5x2, Matrix5x3, DMatrix, DVector, Matrix2, Matrix3, Matrix4,
ComplexField ComplexField
}; };
use std::cmp; use std::cmp;
#[allow(unused_imports)] #[allow(unused_imports)]
use crate::core::helper::{RandScalar, RandComplex}; use crate::core::helper::{RandScalar, RandComplex};
use crate::proptest::*;
use proptest::{prop_assert, proptest};
quickcheck! { proptest! {
fn svd(m: DMatrix<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn svd(m in dmatrix_($scalar)) {
if m.len() > 0 { let svd = m.clone().svd(true, true);
let svd = m.clone().svd(true, true); let recomp_m = svd.clone().recompose().unwrap();
let recomp_m = svd.clone().recompose().unwrap(); let (u, s, v_t) = (svd.u.unwrap(), svd.singular_values, svd.v_t.unwrap());
let (u, s, v_t) = (svd.u.unwrap(), svd.singular_values, svd.v_t.unwrap()); let ds = DMatrix::from_diagonal(&s.map(|e| ComplexField::from_real(e)));
let ds = DMatrix::from_diagonal(&s.map(|e| ComplexField::from_real(e)));
s.iter().all(|e| *e >= 0.0) && prop_assert!(s.iter().all(|e| *e >= 0.0));
relative_eq!(&u * ds * &v_t, recomp_m, epsilon = 1.0e-5) && prop_assert!(relative_eq!(&u * ds * &v_t, recomp_m, epsilon = 1.0e-5));
relative_eq!(m, recomp_m, epsilon = 1.0e-5) prop_assert!(relative_eq!(m, recomp_m, epsilon = 1.0e-5));
}
else {
true
}
} }
fn svd_static_5_3(m: Matrix5x3<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn svd_static_5_3(m in matrix5x3_($scalar)) {
let svd = m.svd(true, true); let svd = m.svd(true, true);
let (u, s, v_t) = (svd.u.unwrap(), svd.singular_values, svd.v_t.unwrap()); let (u, s, v_t) = (svd.u.unwrap(), svd.singular_values, svd.v_t.unwrap());
let ds = Matrix3::from_diagonal(&s.map(|e| ComplexField::from_real(e))); let ds = Matrix3::from_diagonal(&s.map(|e| ComplexField::from_real(e)));
s.iter().all(|e| *e >= 0.0) && prop_assert!(s.iter().all(|e| *e >= 0.0));
relative_eq!(m, &u * ds * &v_t, epsilon = 1.0e-5) && prop_assert!(relative_eq!(m, &u * ds * &v_t, epsilon = 1.0e-5));
u.is_orthogonal(1.0e-5) && prop_assert!(u.is_orthogonal(1.0e-5));
v_t.is_orthogonal(1.0e-5) prop_assert!(v_t.is_orthogonal(1.0e-5));
} }
fn svd_static_5_2(m: Matrix5x2<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn svd_static_5_2(m in matrix5x2_($scalar)) {
let svd = m.svd(true, true); let svd = m.svd(true, true);
let (u, s, v_t) = (svd.u.unwrap(), svd.singular_values, svd.v_t.unwrap()); let (u, s, v_t) = (svd.u.unwrap(), svd.singular_values, svd.v_t.unwrap());
let ds = Matrix2::from_diagonal(&s.map(|e| ComplexField::from_real(e))); let ds = Matrix2::from_diagonal(&s.map(|e| ComplexField::from_real(e)));
s.iter().all(|e| *e >= 0.0) && prop_assert!(s.iter().all(|e| *e >= 0.0));
relative_eq!(m, &u * ds * &v_t, epsilon = 1.0e-5) && prop_assert!(relative_eq!(m, &u * ds * &v_t, epsilon = 1.0e-5));
u.is_orthogonal(1.0e-5) && prop_assert!(u.is_orthogonal(1.0e-5));
v_t.is_orthogonal(1.0e-5) prop_assert!(v_t.is_orthogonal(1.0e-5));
} }
fn svd_static_3_5(m: Matrix3x5<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn svd_static_3_5(m in matrix3x5_($scalar)) {
let svd = m.svd(true, true); let svd = m.svd(true, true);
let (u, s, v_t) = (svd.u.unwrap(), svd.singular_values, svd.v_t.unwrap()); let (u, s, v_t) = (svd.u.unwrap(), svd.singular_values, svd.v_t.unwrap());
let ds = Matrix3::from_diagonal(&s.map(|e| ComplexField::from_real(e))); let ds = Matrix3::from_diagonal(&s.map(|e| ComplexField::from_real(e)));
s.iter().all(|e| *e >= 0.0) && prop_assert!(s.iter().all(|e| *e >= 0.0));
relative_eq!(m, u * ds * v_t, epsilon = 1.0e-5) prop_assert!(relative_eq!(m, u * ds * v_t, epsilon = 1.0e-5));
} }
fn svd_static_2_5(m: Matrix2x5<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn svd_static_2_5(m in matrix2x5_($scalar)) {
let svd = m.svd(true, true); let svd = m.svd(true, true);
let (u, s, v_t) = (svd.u.unwrap(), svd.singular_values, svd.v_t.unwrap()); let (u, s, v_t) = (svd.u.unwrap(), svd.singular_values, svd.v_t.unwrap());
let ds = Matrix2::from_diagonal(&s.map(|e| ComplexField::from_real(e))); let ds = Matrix2::from_diagonal(&s.map(|e| ComplexField::from_real(e)));
s.iter().all(|e| *e >= 0.0) && prop_assert!(s.iter().all(|e| *e >= 0.0));
relative_eq!(m, u * ds * v_t, epsilon = 1.0e-5) prop_assert!(relative_eq!(m, u * ds * v_t, epsilon = 1.0e-5));
} }
fn svd_static_square(m: Matrix4<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn svd_static_square(m in matrix4_($scalar)) {
let svd = m.svd(true, true); let svd = m.svd(true, true);
let (u, s, v_t) = (svd.u.unwrap(), svd.singular_values, svd.v_t.unwrap()); let (u, s, v_t) = (svd.u.unwrap(), svd.singular_values, svd.v_t.unwrap());
let ds = Matrix4::from_diagonal(&s.map(|e| ComplexField::from_real(e))); let ds = Matrix4::from_diagonal(&s.map(|e| ComplexField::from_real(e)));
s.iter().all(|e| *e >= 0.0) && prop_assert!(s.iter().all(|e| *e >= 0.0));
relative_eq!(m, u * ds * v_t, epsilon = 1.0e-5) && prop_assert!(relative_eq!(m, u * ds * v_t, epsilon = 1.0e-5));
u.is_orthogonal(1.0e-5) && prop_assert!(u.is_orthogonal(1.0e-5));
v_t.is_orthogonal(1.0e-5) prop_assert!(v_t.is_orthogonal(1.0e-5));
} }
fn svd_static_square_2x2(m: Matrix2<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn svd_static_square_2x2(m in matrix2_($scalar)) {
let svd = m.svd(true, true); let svd = m.svd(true, true);
let (u, s, v_t) = (svd.u.unwrap(), svd.singular_values, svd.v_t.unwrap()); let (u, s, v_t) = (svd.u.unwrap(), svd.singular_values, svd.v_t.unwrap());
let ds = Matrix2::from_diagonal(&s.map(|e| ComplexField::from_real(e))); let ds = Matrix2::from_diagonal(&s.map(|e| ComplexField::from_real(e)));
s.iter().all(|e| *e >= 0.0) && prop_assert!(s.iter().all(|e| *e >= 0.0));
relative_eq!(m, u * ds * v_t, epsilon = 1.0e-5) && prop_assert!(relative_eq!(m, u * ds * v_t, epsilon = 1.0e-5));
u.is_orthogonal(1.0e-5) && prop_assert!(u.is_orthogonal(1.0e-5));
v_t.is_orthogonal(1.0e-5) prop_assert!(v_t.is_orthogonal(1.0e-5));
} }
fn svd_pseudo_inverse(m: DMatrix<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0); fn svd_pseudo_inverse(m in dmatrix_($scalar)) {
let svd = m.clone().svd(true, true);
let pinv = svd.pseudo_inverse(1.0e-10).unwrap();
if m.len() > 0 { if m.nrows() > m.ncols() {
let svd = m.clone().svd(true, true); prop_assert!((pinv * m).is_identity(1.0e-5))
let pinv = svd.pseudo_inverse(1.0e-10).unwrap(); } else {
prop_assert!((m * pinv).is_identity(1.0e-5))
if m.nrows() > m.ncols() {
(pinv * m).is_identity(1.0e-5)
}
else {
(m * pinv).is_identity(1.0e-5)
}
}
else {
true
} }
} }
fn svd_solve(n: usize, nb: usize) -> bool { #[test]
fn svd_solve(n in PROPTEST_MATRIX_DIM, nb in PROPTEST_MATRIX_DIM) {
let n = cmp::max(1, cmp::min(n, 10)); let n = cmp::max(1, cmp::min(n, 10));
let nb = cmp::min(nb, 10); let nb = cmp::min(nb, 10);
let m = DMatrix::<$scalar>::new_random(n, n).map(|e| e.0); let m = DMatrix::<$scalar_type>::new_random(n, n).map(|e| e.0);
let svd = m.clone().svd(true, true); let svd = m.clone().svd(true, true);
if svd.rank(1.0e-7) == n { if svd.rank(1.0e-7) == n {
let b1 = DVector::<$scalar>::new_random(n).map(|e| e.0); let b1 = DVector::<$scalar_type>::new_random(n).map(|e| e.0);
let b2 = DMatrix::<$scalar>::new_random(n, nb).map(|e| e.0); let b2 = DMatrix::<$scalar_type>::new_random(n, nb).map(|e| e.0);
let sol1 = svd.solve(&b1, 1.0e-7).unwrap(); let sol1 = svd.solve(&b1, 1.0e-7).unwrap();
let sol2 = svd.solve(&b2, 1.0e-7).unwrap(); let sol2 = svd.solve(&b2, 1.0e-7).unwrap();
let recomp = svd.recompose().unwrap(); let recomp = svd.recompose().unwrap();
if !relative_eq!(m, recomp, epsilon = 1.0e-6) {
println!("{}{}", m, recomp);
}
if !relative_eq!(&m * &sol1, b1, epsilon = 1.0e-6) { prop_assert!(relative_eq!(m, recomp, epsilon = 1.0e-6));
println!("Problem 1: {:.6}{:.6}", b1, &m * sol1); prop_assert!(relative_eq!(&m * &sol1, b1, epsilon = 1.0e-6));
return false; prop_assert!(relative_eq!(&m * &sol2, b2, epsilon = 1.0e-6));
}
if !relative_eq!(&m * &sol2, b2, epsilon = 1.0e-6) {
println!("Problem 2: {:.6}{:.6}", b2, &m * sol2);
return false;
}
} }
true
} }
} }
} }
} }
); );
gen_tests!(complex, RandComplex<f64>); gen_tests!(complex, complex_f64(), RandComplex<f64>);
gen_tests!(f64, RandScalar<f64>); gen_tests!(f64, PROPTEST_F64, RandScalar<f64>);
} }
// Test proposed on the issue #176 of rulinalg. // Test proposed on the issue #176 of rulinalg.
@ -303,31 +284,31 @@ fn svd_identity() {
#[rustfmt::skip] #[rustfmt::skip]
fn svd_with_delimited_subproblem() { fn svd_with_delimited_subproblem() {
let mut m = DMatrix::<f64>::from_element(10, 10, 0.0); let mut m = DMatrix::<f64>::from_element(10, 10, 0.0);
m[(0,0)] = 1.0; m[(0,1)] = 2.0; m[(0, 0)] = 1.0; m[(0, 1)] = 2.0;
m[(1,1)] = 0.0; m[(1,2)] = 3.0; m[(1, 1)] = 0.0; m[(1, 2)] = 3.0;
m[(2,2)] = 4.0; m[(2,3)] = 5.0; m[(2, 2)] = 4.0; m[(2, 3)] = 5.0;
m[(3,3)] = 6.0; m[(3,4)] = 0.0; m[(3, 3)] = 6.0; m[(3, 4)] = 0.0;
m[(4,4)] = 8.0; m[(3,5)] = 9.0; m[(4, 4)] = 8.0; m[(3, 5)] = 9.0;
m[(5,5)] = 10.0; m[(3,6)] = 11.0; m[(5, 5)] = 10.0; m[(3, 6)] = 11.0;
m[(6,6)] = 12.0; m[(3,7)] = 12.0; m[(6, 6)] = 12.0; m[(3, 7)] = 12.0;
m[(7,7)] = 14.0; m[(3,8)] = 13.0; m[(7, 7)] = 14.0; m[(3, 8)] = 13.0;
m[(8,8)] = 16.0; m[(3,9)] = 17.0; m[(8, 8)] = 16.0; m[(3, 9)] = 17.0;
m[(9,9)] = 18.0; m[(9, 9)] = 18.0;
let svd = m.clone().svd(true, true); let svd = m.clone().svd(true, true);
assert_relative_eq!(m, svd.recompose().unwrap(), epsilon = 1.0e-7); assert_relative_eq!(m, svd.recompose().unwrap(), epsilon = 1.0e-7);
// Rectangular versions. // Rectangular versions.
let mut m = DMatrix::<f64>::from_element(15, 10, 0.0); let mut m = DMatrix::<f64>::from_element(15, 10, 0.0);
m[(0,0)] = 1.0; m[(0,1)] = 2.0; m[(0, 0)] = 1.0; m[(0, 1)] = 2.0;
m[(1,1)] = 0.0; m[(1,2)] = 3.0; m[(1, 1)] = 0.0; m[(1, 2)] = 3.0;
m[(2,2)] = 4.0; m[(2,3)] = 5.0; m[(2, 2)] = 4.0; m[(2, 3)] = 5.0;
m[(3,3)] = 6.0; m[(3,4)] = 0.0; m[(3, 3)] = 6.0; m[(3, 4)] = 0.0;
m[(4,4)] = 8.0; m[(3,5)] = 9.0; m[(4, 4)] = 8.0; m[(3, 5)] = 9.0;
m[(5,5)] = 10.0; m[(3,6)] = 11.0; m[(5, 5)] = 10.0; m[(3, 6)] = 11.0;
m[(6,6)] = 12.0; m[(3,7)] = 12.0; m[(6, 6)] = 12.0; m[(3, 7)] = 12.0;
m[(7,7)] = 14.0; m[(3,8)] = 13.0; m[(7, 7)] = 14.0; m[(3, 8)] = 13.0;
m[(8,8)] = 16.0; m[(3,9)] = 17.0; m[(8, 8)] = 16.0; m[(3, 9)] = 17.0;
m[(9,9)] = 18.0; m[(9, 9)] = 18.0;
let svd = m.clone().svd(true, true); let svd = m.clone().svd(true, true);
assert_relative_eq!(m, svd.recompose().unwrap(), epsilon = 1.0e-7); assert_relative_eq!(m, svd.recompose().unwrap(), epsilon = 1.0e-7);

46
tests/linalg/tridiagonal.rs
View File

@ -1,54 +1,56 @@
#![cfg(feature = "arbitrary")] #![cfg(feature = "proptest-support")]
macro_rules! gen_tests( macro_rules! gen_tests(
($module: ident, $scalar: ty) => { ($module: ident, $scalar: expr) => {
mod $module { mod $module {
use std::cmp;
use na::{DMatrix, Matrix2, Matrix4};
#[allow(unused_imports)] #[allow(unused_imports)]
use crate::core::helper::{RandScalar, RandComplex}; use crate::core::helper::{RandScalar, RandComplex};
use crate::proptest::*;
use proptest::{prop_assert, proptest};
quickcheck! { proptest! {
fn symm_tridiagonal(n: usize) -> bool { #[test]
let n = cmp::max(1, cmp::min(n, 50)); fn symm_tridiagonal(m in dmatrix_($scalar)) {
let m = DMatrix::<$scalar>::new_random(n, n).map(|e| e.0).hermitian_part(); let m = &m * m.adjoint();
let tri = m.clone().symmetric_tridiagonalize(); let tri = m.clone().symmetric_tridiagonalize();
let recomp = tri.recompose(); let recomp = tri.recompose();
relative_eq!(m.lower_triangle(), recomp.lower_triangle(), epsilon = 1.0e-7) prop_assert!(relative_eq!(m.lower_triangle(), recomp.lower_triangle(), epsilon = 1.0e-7));
} }
fn symm_tridiagonal_singular(n: usize) -> bool { #[test]
let n = cmp::max(1, cmp::min(n, 4)); fn symm_tridiagonal_singular(m in dmatrix_($scalar)) {
let mut m = DMatrix::<$scalar>::new_random(n, n).map(|e| e.0).hermitian_part(); let mut m = &m * m.adjoint();
let n = m.nrows();
m.row_mut(n / 2).fill(na::zero()); m.row_mut(n / 2).fill(na::zero());
m.column_mut(n / 2).fill(na::zero()); m.column_mut(n / 2).fill(na::zero());
let tri = m.clone().symmetric_tridiagonalize(); let tri = m.clone().symmetric_tridiagonalize();
let recomp = tri.recompose(); let recomp = tri.recompose();
relative_eq!(m.lower_triangle(), recomp.lower_triangle(), epsilon = 1.0e-7) prop_assert!(relative_eq!(m.lower_triangle(), recomp.lower_triangle(), epsilon = 1.0e-7));
} }
fn symm_tridiagonal_static_square(m: Matrix4<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0).hermitian_part(); fn symm_tridiagonal_static_square(m in matrix4_($scalar)) {
let m = m.hermitian_part();
let tri = m.symmetric_tridiagonalize(); let tri = m.symmetric_tridiagonalize();
let recomp = tri.recompose(); let recomp = tri.recompose();
relative_eq!(m.lower_triangle(), recomp.lower_triangle(), epsilon = 1.0e-7) prop_assert!(relative_eq!(m.lower_triangle(), recomp.lower_triangle(), epsilon = 1.0e-7));
} }
fn symm_tridiagonal_static_square_2x2(m: Matrix2<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0).hermitian_part(); fn symm_tridiagonal_static_square_2x2(m in matrix2_($scalar)) {
let m = m.hermitian_part();
let tri = m.symmetric_tridiagonalize(); let tri = m.symmetric_tridiagonalize();
let recomp = tri.recompose(); let recomp = tri.recompose();
relative_eq!(m.lower_triangle(), recomp.lower_triangle(), epsilon = 1.0e-7) prop_assert!(relative_eq!(m.lower_triangle(), recomp.lower_triangle(), epsilon = 1.0e-7));
} }
} }
} }
} }
); );
gen_tests!(complex, RandComplex<f64>); gen_tests!(complex, complex_f64());
gen_tests!(f64, RandScalar<f64>); gen_tests!(f64, PROPTEST_F64);

46
tests/linalg/udu.rs
View File

@ -8,7 +8,7 @@ fn udu_simple() {
-1.0, 2.0, -1.0, -1.0, 2.0, -1.0,
0.0, -1.0, 2.0); 0.0, -1.0, 2.0);
let udu = m.udu(); let udu = m.udu().unwrap();
// Rebuild // Rebuild
let p = udu.u * udu.d_matrix() * udu.u.transpose(); let p = udu.u * udu.d_matrix() * udu.u.transpose();
@ -23,50 +23,54 @@ fn udu_non_sym_panic() {
let m = Matrix3::new( let m = Matrix3::new(
2.0, -1.0, 0.0, 2.0, -1.0, 0.0,
1.0, -2.0, 3.0, 1.0, -2.0, 3.0,
-2.0, 1.0, 0.0); -2.0, 1.0, 0.3);
let udu = m.udu(); let udu = m.udu().unwrap();
// Rebuild // Rebuild
let p = udu.u * udu.d_matrix() * udu.u.transpose(); let p = udu.u * udu.d_matrix() * udu.u.transpose();
assert!(relative_eq!(m, p, epsilon = 3.0e-16)); assert!(relative_eq!(m, p, epsilon = 3.0e-16));
} }
#[cfg(feature = "arbitrary")] #[cfg(feature = "proptest-support")]
mod quickcheck_tests { mod proptest_tests {
#[allow(unused_imports)] #[allow(unused_imports)]
use crate::core::helper::{RandComplex, RandScalar}; use crate::core::helper::{RandComplex, RandScalar};
macro_rules! gen_tests( macro_rules! gen_tests(
($module: ident, $scalar: ty) => { ($module: ident, $scalar: expr) => {
mod $module { mod $module {
use na::{DMatrix, Matrix4};
#[allow(unused_imports)] #[allow(unused_imports)]
use crate::core::helper::{RandScalar, RandComplex}; use crate::core::helper::{RandScalar, RandComplex};
use crate::proptest::*;
use proptest::{prop_assert, proptest};
quickcheck! { proptest! {
fn udu(n: usize) -> bool { #[test]
let n = std::cmp::max(1, std::cmp::min(n, 10)); fn udu(m in dmatrix_($scalar)) {
let m = DMatrix::<$scalar>::new_random(n, n).map(|e| e.0).hermitian_part(); let m = &m * m.adjoint();
let udu = m.clone().udu(); if let Some(udu) = m.clone().udu() {
let p = &udu.u * &udu.d_matrix() * &udu.u.transpose(); let p = &udu.u * &udu.d_matrix() * &udu.u.transpose();
println!("m: {}, p: {}", m, p);
relative_eq!(m, p, epsilon = 1.0e-7) prop_assert!(relative_eq!(m, p, epsilon = 1.0e-7));
}
} }
fn udu_static(m: Matrix4<$scalar>) -> bool { #[test]
let m = m.map(|e| e.0).hermitian_part(); fn udu_static(m in matrix4_($scalar)) {
let m = m.hermitian_part();
let udu = m.udu(); if let Some(udu) = m.udu() {
let p = udu.u * udu.d_matrix() * udu.u.transpose(); let p = udu.u * udu.d_matrix() * udu.u.transpose();
prop_assert!(relative_eq!(m, p, epsilon = 1.0e-7));
relative_eq!(m, p, epsilon = 1.0e-7) }
} }
} }
} }
} }
); );
gen_tests!(f64, RandScalar<f64>); gen_tests!(f64, PROPTEST_F64);
} }

158
tests/proptest/mod.rs
View File

@ -1,10 +1,162 @@
//! Tests for proptest-related functionality. //! Tests for proptest-related functionality.
#![allow(dead_code)]
use nalgebra::allocator::Allocator;
use nalgebra::base::dimension::*; use nalgebra::base::dimension::*;
use nalgebra::proptest::{matrix, DimRange, MatrixStrategy}; use nalgebra::proptest::{DimRange, MatrixStrategy};
use nalgebra::{DMatrix, DVector, Dim, Matrix3, MatrixMN, Vector3}; use nalgebra::{
DMatrix, DVector, DefaultAllocator, Dim, DualQuaternion, Isometry2, Isometry3, Matrix3,
MatrixMN, Point2, Point3, Quaternion, Rotation2, Rotation3, Scalar, Similarity3, Translation2,
Translation3, UnitComplex, UnitDualQuaternion, UnitQuaternion, Vector3, U2, U3, U4, U7, U8,
};
use num_complex::Complex;
use proptest::prelude::*; use proptest::prelude::*;
use proptest::strategy::ValueTree; use proptest::strategy::{Strategy, ValueTree};
use proptest::test_runner::TestRunner; use proptest::test_runner::TestRunner;
use std::ops::RangeInclusive;
pub const PROPTEST_MATRIX_DIM: RangeInclusive<usize> = 1..=20;
pub const PROPTEST_F64: RangeInclusive<f64> = -100.0..=100.0;
pub use nalgebra::proptest::{matrix, vector};
pub fn point2() -> impl Strategy<Value = Point2<f64>> {
vector2().prop_map(|v| Point2::from(v))
}
pub fn point3() -> impl Strategy<Value = Point3<f64>> {
vector3().prop_map(|v| Point3::from(v))
}
pub fn translation2() -> impl Strategy<Value = Translation2<f64>> {
vector2().prop_map(|v| Translation2::from(v))
}
pub fn translation3() -> impl Strategy<Value = Translation3<f64>> {
vector3().prop_map(|v| Translation3::from(v))
}
pub fn rotation2() -> impl Strategy<Value = Rotation2<f64>> {
PROPTEST_F64.prop_map(|v| Rotation2::new(v))
}
pub fn rotation3() -> impl Strategy<Value = Rotation3<f64>> {
vector3().prop_map(|v| Rotation3::new(v))
}
pub fn unit_complex() -> impl Strategy<Value = UnitComplex<f64>> {
PROPTEST_F64.prop_map(|v| UnitComplex::new(v))
}
pub fn isometry2() -> impl Strategy<Value = Isometry2<f64>> {
vector3().prop_map(|v| Isometry2::new(v.xy(), v.z))
}
pub fn isometry3() -> impl Strategy<Value = Isometry3<f64>> {
vector6().prop_map(|v| Isometry3::new(v.xyz(), Vector3::new(v.w, v.a, v.b)))
}
// pub fn similarity2() -> impl Strategy<Value = Similarity2<f64>> {
// vector4().prop_map(|v| Similarity2::new(v.xy(), v.z, v.w))
// }
pub fn similarity3() -> impl Strategy<Value = Similarity3<f64>> {
vector(PROPTEST_F64, U7)
.prop_map(|v| Similarity3::new(v.xyz(), Vector3::new(v[3], v[4], v[5]), v[6]))
}
pub fn unit_dual_quaternion() -> impl Strategy<Value = UnitDualQuaternion<f64>> {
isometry3().prop_map(|iso| UnitDualQuaternion::from_isometry(&iso))
}
pub fn dual_quaternion() -> impl Strategy<Value = DualQuaternion<f64>> {
vector(PROPTEST_F64, U8).prop_map(|v| {
DualQuaternion::from_real_and_dual(
Quaternion::new(v[0], v[1], v[2], v[3]),
Quaternion::new(v[4], v[5], v[6], v[7]),
)
})
}
pub fn quaternion() -> impl Strategy<Value = Quaternion<f64>> {
vector4().prop_map(|v| Quaternion::from(v))
}
pub fn unit_quaternion() -> impl Strategy<Value = UnitQuaternion<f64>> {
vector3().prop_map(|v| UnitQuaternion::new(v))
}
pub fn complex_f64() -> impl Strategy<Value = Complex<f64>> + Clone {
vector(PROPTEST_F64, U2).prop_map(|v| Complex::new(v.x, v.y))
}
pub fn dmatrix() -> impl Strategy<Value = DMatrix<f64>> {
matrix(PROPTEST_F64, PROPTEST_MATRIX_DIM, PROPTEST_MATRIX_DIM)
}
pub fn dvector() -> impl Strategy<Value = DVector<f64>> {
vector(PROPTEST_F64, PROPTEST_MATRIX_DIM)
}
pub fn dmatrix_<ScalarStrategy>(
scalar_strategy: ScalarStrategy,
) -> impl Strategy<Value = DMatrix<ScalarStrategy::Value>>
where
ScalarStrategy: Strategy + Clone + 'static,
ScalarStrategy::Value: Scalar,
DefaultAllocator: Allocator<ScalarStrategy::Value, Dynamic, Dynamic>,
{
matrix(scalar_strategy, PROPTEST_MATRIX_DIM, PROPTEST_MATRIX_DIM)
}
// pub fn dvector_<T>(range: RangeInclusive<T>) -> impl Strategy<Value = DVector<T>>
// where
// RangeInclusive<T>: Strategy<Value = T>,
// T: Scalar + PartialEq + Copy,
// DefaultAllocator: Allocator<T, Dynamic>,
// {
// vector(range, PROPTEST_MATRIX_DIM)
// }
macro_rules! define_strategies(
($($strategy_: ident $strategy: ident<$nrows: ident, $ncols: ident>),*) => {$(
pub fn $strategy() -> impl Strategy<Value = MatrixMN<f64, $nrows, $ncols>> {
matrix(PROPTEST_F64, $nrows, $ncols)
}
pub fn $strategy_<ScalarStrategy>(scalar_strategy: ScalarStrategy) -> impl Strategy<Value = MatrixMN<ScalarStrategy::Value, $nrows, $ncols>>
where
ScalarStrategy: Strategy + Clone + 'static,
ScalarStrategy::Value: Scalar,
DefaultAllocator: Allocator<ScalarStrategy::Value, $nrows, $ncols> {
matrix(scalar_strategy, $nrows, $ncols)
}
)*}
);
define_strategies!(
matrix1_ matrix1<U1, U1>,
matrix2_ matrix2<U2, U2>,
matrix3_ matrix3<U3, U3>,
matrix4_ matrix4<U4, U4>,
matrix5_ matrix5<U5, U5>,
matrix6_ matrix6<U6, U6>,
matrix5x2_ matrix5x2<U5, U2>,
matrix2x5_ matrix2x5<U2, U5>,
matrix5x3_ matrix5x3<U5, U3>,
matrix3x5_ matrix3x5<U3, U5>,
matrix5x4_ matrix5x4<U5, U4>,
matrix4x5_ matrix4x5<U4, U5>,
vector1_ vector1<U1, U1>,
vector2_ vector2<U2, U1>,
vector3_ vector3<U3, U1>,
vector4_ vector4<U4, U1>,
vector5_ vector5<U5, U1>,
vector6_ vector6<U6, U1>
);
/// Generate a proptest that tests that all matrices generated with the /// Generate a proptest that tests that all matrices generated with the
/// provided rows and columns conform to the constraints defined by the /// provided rows and columns conform to the constraints defined by the

3
tests/sparse/cs_conversion.rs
View File

@ -43,7 +43,6 @@ fn cs_matrix_from_triplet() {
); );
let cs_mat = CsMatrix::from_triplet(4, 5, &irows, &icols, &vals); let cs_mat = CsMatrix::from_triplet(4, 5, &irows, &icols, &vals);
println!("Mat from triplet: {:?}", cs_mat);
assert!(cs_mat.is_sorted()); assert!(cs_mat.is_sorted());
assert_eq!(cs_mat, cs_expected); assert_eq!(cs_mat, cs_expected);
@ -62,7 +61,6 @@ fn cs_matrix_from_triplet() {
} }
let cs_mat = CsMatrix::from_triplet(4, 5, &irows, &icols, &vals); let cs_mat = CsMatrix::from_triplet(4, 5, &irows, &icols, &vals);
println!("Mat from triplet: {:?}", cs_mat);
assert!(cs_mat.is_sorted()); assert!(cs_mat.is_sorted());
assert_eq!(cs_mat, cs_expected); assert_eq!(cs_mat, cs_expected);
@ -80,7 +78,6 @@ fn cs_matrix_from_triplet() {
vals.append(&mut va); vals.append(&mut va);
let cs_mat = CsMatrix::from_triplet(4, 5, &irows, &icols, &vals); let cs_mat = CsMatrix::from_triplet(4, 5, &irows, &icols, &vals);
println!("Mat from triplet: {:?}", cs_mat);
assert!(cs_mat.is_sorted()); assert!(cs_mat.is_sorted());
assert_eq!(cs_mat, cs_expected * 2.0); assert_eq!(cs_mat, cs_expected * 2.0);

1
tests/sparse/cs_matrix_market.rs
View File

@ -41,7 +41,6 @@ fn cs_matrix_market() {
"#; "#;
let cs_mat = io::cs_matrix_from_matrix_market_str(file_str).unwrap(); let cs_mat = io::cs_matrix_from_matrix_market_str(file_str).unwrap();
println!("CS mat: {:?}", cs_mat);
let mat: DMatrix<_> = cs_mat.into(); let mat: DMatrix<_> = cs_mat.into();
let expected = DMatrix::from_row_slice(5, 5, &[ let expected = DMatrix::from_row_slice(5, 5, &[
1.0, 0.0, 0.0, 6.0, 0.0, 1.0, 0.0, 0.0, 6.0, 0.0,