tests: use __FLT_EPSILON__ in comparisons

PX4 · Feb 17, 2019 · 0676719 · 0676719
1 parent e553dee
commit 0676719
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Showing 10 changed files with 40 additions and 39 deletions.
diff --git a/matrix/SquareMatrix.hpp b/matrix/SquareMatrix.hpp
@@ -149,7 +149,7 @@ bool inv(const SquareMatrix<Type, M> & A, SquareMatrix<Type, M> & inv)
     for (size_t n = 0; n < M; n++) {
 
         // if diagonal is zero, swap with row below
-        if (fabs(static_cast<float>(U(n, n))) < 1e-8f) {
+        if (fabs(static_cast<float>(U(n, n))) < __FLT_EPSILON__) {
             //printf("trying pivot for row %d\n",n);
             for (size_t i = n + 1; i < M; i++) {
 
@@ -174,7 +174,7 @@ bool inv(const SquareMatrix<Type, M> & A, SquareMatrix<Type, M> & inv)
 #endif
 
         // failsafe, return zero matrix
-        if (fabs(static_cast<float>(U(n, n))) < 1e-8f) {
+        if (fabs(static_cast<float>(U(n, n))) < __FLT_EPSILON__) {
             return false;
         }
 

diff --git a/test/helper.cpp b/test/helper.cpp
@@ -5,15 +5,15 @@ using namespace matrix;
 
 int main()
 {
-    TEST(fabs(wrap_pi(4.0) - (4.0 - 2*M_PI)) < 1e-5);
-    TEST(fabs(wrap_pi(-4.0) - (-4.0 + 2*M_PI)) < 1e-5);
-    TEST(fabs(wrap_pi(3.0) - (3.0)) < 1e-3);
+    TEST(fabs(wrap_pi(4.0) - (4.0 - 2*M_PI)) < __FLT_EPSILON__);
+    TEST(fabs(wrap_pi(-4.0) - (-4.0 + 2*M_PI)) < __FLT_EPSILON__);
+    TEST(fabs(wrap_pi(3.0) - (3.0)) < __FLT_EPSILON__);
     TEST(!is_finite(wrap_pi(1000.0f)));
     TEST(!is_finite(wrap_pi(-1000.0f)));
     wrap_pi(NAN);
 
-    TEST(fabs(wrap_2pi(-4.0) - (-4.0 + 2*M_PI)) < 1e-5);
-    TEST(fabs(wrap_2pi(3.0) - (3.0)) < 1e-3);
+    TEST(fabs(wrap_2pi(-4.0) - (-4.0 + 2*M_PI)) < __FLT_EPSILON__);
+    TEST(fabs(wrap_2pi(3.0) - (3.0)) < __FLT_EPSILON__);
     TEST(!is_finite(wrap_2pi(1000.0f)));
     TEST(!is_finite(wrap_2pi(-1000.0f)));
     wrap_2pi(NAN);

diff --git a/test/inverse.cpp b/test/inverse.cpp
@@ -20,7 +20,7 @@ int main()
     SquareMatrix<float, 3> A(data);
     SquareMatrix<float, 3> A_I = inv(A);
     SquareMatrix<float, 3> A_I_check(data_check);
-    TEST((A_I - A_I_check).abs().max() < 1e-5);
+    TEST((A_I - A_I_check).abs().max() < 1e-6f);
 
     // stess test
     SquareMatrix<float, n_large> A_large;
@@ -63,7 +63,7 @@ int main()
     SquareMatrix<float, 9> A2(data2);
     SquareMatrix<float, 9> A2_I = inv(A2);
     SquareMatrix<float, 9> A2_I_check(data2_check);
-    TEST((A2_I - A2_I_check).abs().max() < 1e-3);
+    TEST((A2_I - A2_I_check).abs().max() < 1e-3f);
     float data3[9] = {
         0, 1, 2,
         3, 4, 5,

diff --git a/test/matrixAssignment.cpp b/test/matrixAssignment.cpp
@@ -22,7 +22,7 @@ int main()
     Matrix3f m2(data);
 
     for(int i=0; i<9; i++) {
-        TEST(fabs(data[i] - m2.data()[i]) < 1e-6f);
+        TEST(fabs(data[i] - m2.data()[i]) < __FLT_EPSILON__);
     }
 
     Matrix3f m_nan;
@@ -38,7 +38,7 @@ int main()
     };
     m2 = Matrix3f(data2d);
     for(int i=0; i<9; i++) {
-        TEST(fabs(data[i] - m2.data()[i]) < 1e-6f);
+        TEST(fabs(data[i] - m2.data()[i]) < __FLT_EPSILON__);
     }
 
     float data_times_2[9] = {2, 4, 6, 8, 10, 12, 14, 16, 18};
@@ -100,16 +100,16 @@ int main()
     m4.swapCols(2, 2);
     TEST(isEqual(m4, Matrix3f(data)));
 
-    TEST(fabs(m4.min() - 1) < 1e-5);
-    TEST(fabs((-m4).min() + 9) < 1e-5);
+    TEST(fabs(m4.min() - 1) < __FLT_EPSILON__);
+    TEST(fabs((-m4).min() + 9) < __FLT_EPSILON__);
 
     Scalar<float> s = 1;
     const Vector<float, 1> & s_vect = s;
-    TEST(fabs(s - 1) < 1e-5);
-    TEST(fabs(s_vect(0) - 1.0f) < 1e-5);
+    TEST(fabs(s - 1) < __FLT_EPSILON__);
+    TEST(fabs(s_vect(0) - 1.0f) < __FLT_EPSILON__);
 
     Matrix<float, 1, 1> m5 = s;
-    TEST(fabs(m5(0,0) - s) < 1e-5);
+    TEST(fabs(m5(0,0) - s) < __FLT_EPSILON__);
 
     Matrix<float, 2, 2> m6;
     m6.setRow(0, Vector2f(1, 2));

diff --git a/test/setIdentity.cpp b/test/setIdentity.cpp
@@ -11,10 +11,10 @@ int main()
     for (size_t i = 0; i < 3; i++) {
         for (size_t j = 0; j < 3; j++) {
             if (i == j) {
-                TEST(fabs(A(i, j) -  1) < 1e-7);
+                TEST(fabs(A(i, j) -  1) < __FLT_EPSILON__);
 
             } else {
-                TEST(fabs(A(i, j) -  0) < 1e-7);
+                TEST(fabs(A(i, j) -  0) < __FLT_EPSILON__);
             }
         }
     }
@@ -25,10 +25,10 @@ int main()
     for (size_t i = 0; i < 3; i++) {
         for (size_t j = 0; j < 3; j++) {
             if (i == j) {
-                TEST(fabs(B(i, j) -  1) < 1e-7);
+                TEST(fabs(B(i, j) -  1) < __FLT_EPSILON__);
 
             } else {
-                TEST(fabs(B(i, j) -  0) < 1e-7);
+                TEST(fabs(B(i, j) -  0) < __FLT_EPSILON__);
             }
         }
     }

diff --git a/test/squareMatrix.cpp b/test/squareMatrix.cpp
@@ -14,7 +14,7 @@ int main()
     Vector3<float> diag_check(1, 5, 10);
 
     TEST(isEqual(A.diag(), diag_check));
-    TEST(A.trace() - 16 < 1e-3);
+    TEST(A.trace() - 16 < __FLT_EPSILON__);
 
     float data_check[9] = {
         1.01158503f,  0.02190432f,  0.03238144f,
@@ -25,7 +25,7 @@ int main()
     float dt = 0.01f;
     SquareMatrix<float, 3> eA = expm(SquareMatrix<float, 3>(A*dt), 5);
     SquareMatrix<float, 3> eA_check(data_check);
-    TEST((eA - eA_check).abs().max() < 1e-3);
+    TEST((eA - eA_check).abs().max() < 1e-3f);
     return 0;
 }
 

diff --git a/test/test_data.py b/test/test_data.py
@@ -75,18 +75,18 @@ def quat_to_dcm(q):
 print('euler', phi, theta, psi)
 
 q = euler_to_quat(phi, theta, psi)
-assert(abs(norm(q) - 1) < 1e-10)
-assert(abs(norm(q) - 1) < 1e-10)
-assert(norm(array(quat_to_euler(q)) - array([phi, theta, psi])) < 1e-10)
+assert(abs(norm(q) - 1) < __FLT_EPSILON__)
+assert(abs(norm(q) - 1) < __FLT_EPSILON__)
+assert(norm(array(quat_to_euler(q)) - array([phi, theta, psi])) < __FLT_EPSILON__)
 print('\nq:')
 pprint(q)
 
 dcm = euler_to_dcm(phi, theta, psi)
 assert(norm(dcm[:,0]) == 1)
 assert(norm(dcm[:,1]) == 1)
 assert(norm(dcm[:,2]) == 1)
-assert(abs(dcm[:,0].dot(dcm[:,1])) < 1e-10)
-assert(abs(dcm[:,0].dot(dcm[:,2])) < 1e-10)
+assert(abs(dcm[:,0].dot(dcm[:,1])) < __FLT_EPSILON__)
+assert(abs(dcm[:,0].dot(dcm[:,2])) < __FLT_EPSILON__)
 print('\ndcm:')
 pprint(dcm)
 

diff --git a/test/test_macros.hpp b/test/test_macros.hpp
@@ -10,6 +10,7 @@
 
 #include <cstdio>
 #include <cmath>    // cmath has to be introduced BEFORE we poison the C library identifiers
+#include "float.h"
 
 #define TEST(X) if(!(X)) { fprintf(stderr, "test failed on %s:%d\n", __FILE__, __LINE__); return -1;}
 

diff --git a/test/urt.cpp b/test/urt.cpp
@@ -14,7 +14,7 @@ int main()
     SquareMatrix<float, 3> A(data);
 
     for(int i=0; i<6; i++) {
-        TEST(fabs(urt[i] - A.urt().data()[i]) < 1e-6f);
+        TEST(fabs(urt[i] - A.urt().data()[i]) < __FLT_EPSILON__);
     }
 
     return 0;

diff --git a/test/vector2.cpp b/test/vector2.cpp
@@ -10,29 +10,29 @@ int main()
 {
     Vector2f a(1, 0);
     Vector2f b(0, 1);
-    TEST(fabs(a % b - 1.0f) < 1e-5);
+    TEST(fabs(a % b - 1.0f) < __FLT_EPSILON__);
 
     Vector2f c;
-    TEST(fabs(c(0) - 0) < 1e-5);
-    TEST(fabs(c(1) - 0) < 1e-5);
+    TEST(fabs(c(0) - 0) < __FLT_EPSILON__);
+    TEST(fabs(c(1) - 0) < __FLT_EPSILON__);
 
     Matrix<float, 2, 1> d(a);
-    TEST(fabs(d(0,0) - 1) < 1e-5);
-    TEST(fabs(d(1,0) - 0) < 1e-5);
+    TEST(fabs(d(0,0) - 1) < __FLT_EPSILON__);
+    TEST(fabs(d(1,0) - 0) < __FLT_EPSILON__);
 
     Vector2f e(d);
-    TEST(fabs(e(0) - 1) < 1e-5);
-    TEST(fabs(e(1) - 0) < 1e-5);
+    TEST(fabs(e(0) - 1) < __FLT_EPSILON__);
+    TEST(fabs(e(1) - 0) < __FLT_EPSILON__);
 
     float data[] = {4,5};
     Vector2f f(data);
-    TEST(fabs(f(0) - 4) < 1e-5);
-    TEST(fabs(f(1) - 5) < 1e-5);
+    TEST(fabs(f(0) - 4) < __FLT_EPSILON__);
+    TEST(fabs(f(1) - 5) < __FLT_EPSILON__);
 
     Vector3f g(1.23f, 423.4f, 3221.f);
     Vector2f h(g);
-    TEST(fabs(h(0) - 1.23f) < 1e-5);
-    TEST(fabs(h(1) - 423.4f) < 1e-5);
+    TEST(fabs(h(0) - 1.23f) < __FLT_EPSILON__);
+    TEST(fabs(h(1) - 423.4f) < __FLT_EPSILON__);
 
     return 0;
 }