iDynTree/TestUtils.h file

Namespaces

namespace iDynTree

Classes

struct iDynTree::TestMatrixMismatch

Functions

void assertStringAreEqual(const std::string& val1, const std::string& val2, double tol = DEFAULT_TOL, std::string file = "", int line = -1)

void assertDoubleAreEqual(const double& val1, const double& val2, double tol = DEFAULT_TOL, std::string file = "", int line = -1)

void assertTransformsAreEqual(const Transform& trans1, const Transform& trans2, double tol = DEFAULT_TOL, std::string file = "", int line = -1)

Assert that two transforms are equal, and exit with EXIT_FAILURE if they are not.

void assertSpatialMotionAreEqual(const SpatialMotionVector& t1, const SpatialMotionVector& t2, double tol = DEFAULT_TOL, std::string file = "", int line = -1)

Assert that two spatial motion vectors are equal, and exit with EXIT_FAILURE if they are not.

void assertSpatialForceAreEqual(const SpatialForceVector& f1, const SpatialForceVector& f2, double tol = DEFAULT_TOL, std::string file = "", int line = -1)

Assert that two spatial force vectors are equal, and exit with EXIT_FAILURE if they are not.

void assertTrue(bool prop, std::string file = "", int line = -1)

auto getRandomBool() -> bool

Get random bool.

auto getRandomDouble(double min = 0.0, double max = 1.0) -> double

Get a random double between min and max .

auto getRandomInteger(int min, int max) -> int

Get a random integer between min and max (included).

template<typename VectorType>

void getRandomVector(VectorType& vec, double min = 0.0, double max = 1.0)

Fill a vector with random double.

template<typename MatrixType>

void getRandomMatrix(MatrixType& mat)

Fill a matrix of random doubles.

auto getRandomPosition() -> Position

Get a random position.

auto getRandomRotation() -> Rotation

Get a random rotation.

auto getRandomTransform() -> Transform

Get a random transform.

auto getRandomAxis() -> Axis

Get a random axis.

auto getRandomInertia() -> SpatialInertia

Get a random (but physically consistent) inertia.

auto getRandomTwist() -> SpatialMotionVector

Get a random twist-like 6D vector.

auto getRandomWrench() -> SpatialForceVector

Get a random wrench-like 6D object.

template<typename VectorType>

void printVector(std::string, const VectorType& vec)

Helper for printing vectors.

template<typename VectorType1, typename VectorType2>

void printVectorDifference(std::string name, const VectorType1& vec1, const VectorType2& vec2)

Helper for printing difference of two vectors.

void printVectorWrongElements(std::string name, std::vector<bool>& correctElems)

Helper for printing the patter of wrong elements in between two vectors.

void printMatrixWrongElements(std::string name, std::vector<std::vector<TestMatrixMismatch>>& correctElems)

Helper for printing the patter of wrong elements in between two matrix.

template<typename MatrixType1, typename MatrixType2>

void printMatrixPercentageError(const MatrixType1& mat1, const MatrixType2& mat2)

Helper for printing the patter of wrong elements in between two matrix.

template<typename VectorType1, typename VectorType2>

void assertVectorAreEqual(const VectorType1& vec1, const VectorType2& vec2, double tol, std::string file, int line)

Assert that two vectors are equal, and exit with EXIT_FAILURE if they are not.

template<typename VectorType1, typename VectorType2>

void assertVectorAreEqualWithRelativeTol(const VectorType1& vec1, const VectorType2& vec2, double relativeTol, double minAbsoluteTol, std::string file, int line)

Assert that two vectors are equal, and exit with EXIT_FAILURE if they are not.

template<typename MatrixType1, typename MatrixType2>

void assertMatrixAreEqual(const MatrixType1& mat1, const MatrixType2& mat2, double tol, std::string file, int line)

Assert that two matrices are equal, and exit with EXIT_FAILURE if they are not.

Defines

#define ASSERT_IS_TRUE(prop)

#define ASSERT_IS_FALSE(prop)

#define ASSERT_EQUAL_STRING(val1, val2)

#define ASSERT_EQUAL_DOUBLE(val1, val2)

#define ASSERT_EQUAL_DOUBLE_TOL(val1, val2, tol)

#define ASSERT_EQUAL_VECTOR(val1, val2)

#define ASSERT_EQUAL_VECTOR_TOL(val1, val2, tol)

#define ASSERT_EQUAL_VECTOR_REL_TOL(val1, val2, relTol, minAbsTol)

#define ASSERT_EQUAL_SPATIAL_MOTION(val1, val2)

#define ASSERT_EQUAL_SPATIAL_FORCE(val1, val2)

#define ASSERT_EQUAL_SPATIAL_FORCE_TOL(val1, val2, tol)

#define ASSERT_EQUAL_MATRIX(val1, val2)

#define ASSERT_EQUAL_MATRIX_TOL(val1, val2, tol)

#define ASSERT_EQUAL_TRANSFORM(val1, val2)

#define ASSERT_EQUAL_TRANSFORM_TOL(val1, val2, tol)

#define IDYNTREE_MATCH_CHARACTER

Function documentation