From 5e27f3e1211148c43a61056c913aec1931cfee3c Mon Sep 17 00:00:00 2001 From: Florent Lamiraux Date: Tue, 20 Jan 2015 17:58:46 +0100 Subject: [PATCH] Add a test for non-uniform cubic B splines. --- tests/CMakeLists.txt | 3 + tests/cubic-b-spline-2.cc | 127 + tests/cubic-b-spline-2.stdout | 7600 +++++++++++++++++++++++++++++++++ 3 files changed, 7730 insertions(+) create mode 100644 tests/cubic-b-spline-2.cc create mode 100644 tests/cubic-b-spline-2.stdout diff --git a/tests/CMakeLists.txt b/tests/CMakeLists.txt index 3f813a3..6426bab 100644 --- a/tests/CMakeLists.txt +++ b/tests/CMakeLists.txt @@ -113,6 +113,9 @@ ROBOPTIM_TRAJECTORY_TEST(state-function) ROBOPTIM_TRAJECTORY_TEST(cubic-b-spline) CONFIGURE_FILE ("cubic-b-spline-gradient.stdout" "cubic-b-spline-gradient.stdout") +ROBOPTIM_TRAJECTORY_TEST(cubic-b-spline-2) +CONFIGURE_FILE ("cubic-b-spline-2.stdout" + "cubic-b-spline-2.stdout") ROBOPTIM_TRAJECTORY_TEST(cubic-b-spline-gradient) ROBOPTIM_TRAJECTORY_TEST(b-spline) ROBOPTIM_TRAJECTORY_TEST(constrained-b-spline) diff --git a/tests/cubic-b-spline-2.cc b/tests/cubic-b-spline-2.cc new file mode 100644 index 0000000..037d7e1 --- /dev/null +++ b/tests/cubic-b-spline-2.cc @@ -0,0 +1,127 @@ +// Copyright (C) 2009 by Thomas Moulard, AIST, CNRS, INRIA. +// +// This file is part of the roboptim. +// +// roboptim is free software: you can redistribute it and/or modify +// it under the terms of the GNU Lesser General Public License as published by +// the Free Software Foundation, either version 3 of the License, or +// (at your option) any later version. +// +// roboptim is distributed in the hope that it will be useful, +// but WITHOUT ANY WARRANTY; without even the implied warranty of +// MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the +// GNU Lesser General Public License for more details. +// +// You should have received a copy of the GNU Lesser General Public License +// along with roboptim. If not, see . + +#undef NDEBUG + +#include +#include +#include +#include "shared-tests/fixture.hh" + +#include + +#include +#include +#include + +#include + +#include +#include + +using namespace roboptim; +using namespace roboptim::trajectory; +using namespace roboptim::visualization; +using namespace roboptim::visualization::gnuplot; + +typedef CubicBSpline::size_type size_type; +typedef CubicBSpline::value_type value_type; + +typedef std::vector < std::vector < value_type > > matrix_t; + +matrix_t getReference (const std::string& file) +{ + matrix_t result; + size_type nbRows = 0; + + std::ifstream f; f.open (file.c_str ()); + std::string line; + + while (f.good ()) { + std::vector data; + std::getline (f, line); + std::stringstream ss (line); + std::copy (std::istream_iterator< value_type > (ss), + std::istream_iterator< value_type > (), + std::back_inserter (data)); + ++nbRows; + result.push_back (data); + } + return result; +} + +BOOST_FIXTURE_TEST_SUITE (trajectory, TestSuiteConfiguration) + +BOOST_AUTO_TEST_CASE (trajectory_cubic_b_spline) +{ + using namespace roboptim::visualization::gnuplot; + size_type nbRows = 0; + matrix_t reference = getReference ("cubic-b-spline-2.stdout"); + if (reference.size () == 0) { + throw std::runtime_error + ("failed to open file \"cubic-b-spline-2.stdout\""); + } + double tol = 1e-6; + + size_type nbKnots = 12; + double knotArray [] = + { -3, -2, -1, 0, .2, 1., 1.2, 1.8, 1.9, 2.2, 3.2, 4.2}; + CubicBSpline::knots_t knots (nbKnots); + for (std::size_t i=0; i<(std::size_t)nbKnots ; ++i) knots [i] = knotArray [i]; + std::vector params; + + for (std::size_t i=0; i < (std::size_t)(nbKnots-4); ++i) { + params.push_back (CubicBSpline::vector_t (nbKnots - 4)); + params [i].setZero (); + params [i][i] = 1; + } + + std::ofstream f; f.open ("output"); + for (std::size_t i=0; i<(std::size_t)nbKnots-4; ++i) { + CubicBSpline spline (1, knots, params [i], "Cubic B-spline"); + + discreteInterval_t interval (spline.timeRange ().first, + spline.timeRange ().second, 0.002); + + std::cout + << + (boost::format + ("set term wxt persist title 'Spline: base functions' %1% font ',5'") + % i) << std::endl + << "set grid xtics noytics linewidth 0.5" << std::endl + << "set xlabel 't'" << std::endl + << "set ylabel 'value'" << std::endl; + std::string title ("spline"); + std::cout << "plot '-' title '"<< title <<"' with line\n"; + + spline (0.95); + // Loop over the interval of definition + for (double t = boost::get<0> (interval); t < boost::get<1> (interval); + t += boost::get<2> (interval)) { + CubicBSpline::vector_t value = spline (t); + std::cout << (boost::format ("%1.3f %2.8f\n") + % normalize (t) + % normalize (value (0))).str (); + BOOST_CHECK_SMALL (t - reference [nbRows][0], tol); + BOOST_CHECK_SMALL (value (0) - reference [nbRows][1], tol); + ++nbRows; + } + std::cout << "e" << std::endl; + } + std::cout << "unset multiplot" << std::endl; +} +BOOST_AUTO_TEST_SUITE_END () diff --git 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