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Fix test cubic-b-spline-gradient #21

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Merged
bchretien merged 1 commit into from
Jan 21, 2015
Merged

Fix test cubic-b-spline-gradient #21

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2 changes: 2 additions & 0 deletions tests/CMakeLists.txt
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Original file line number Diff line number Diff line change
Expand Up @@ -111,6 +111,8 @@ ROBOPTIM_TRAJECTORY_TEST(state-function)

# Spline.
ROBOPTIM_TRAJECTORY_TEST(cubic-b-spline)
CONFIGURE_FILE ("cubic-b-spline-gradient.stdout"
"cubic-b-spline-gradient.stdout")
ROBOPTIM_TRAJECTORY_TEST(cubic-b-spline-gradient)
ROBOPTIM_TRAJECTORY_TEST(b-spline)
ROBOPTIM_TRAJECTORY_TEST(constrained-b-spline)
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67 changes: 49 additions & 18 deletions tests/cubic-b-spline-gradient.cc
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Expand Up @@ -17,6 +17,9 @@

#undef NDEBUG

#include <iostream>
#include <fstream>

#include <roboptim/trajectory/sys.hh>

#include <boost/format.hpp>
Expand All @@ -39,20 +42,49 @@ using namespace roboptim::trajectory;
using namespace roboptim::visualization;
using namespace roboptim::visualization::gnuplot;

typedef CubicBSpline::value_type value_type;
typedef CubicBSpline::size_type size_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 <value_type> 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_gradient)
{
using namespace roboptim::visualization::gnuplot;

boost::shared_ptr<boost::test_tools::output_test_stream>
output = retrievePattern("cubic-b-spline-gradient");
size_type nbRows = 0;
matrix_t reference = getReference ("cubic-b-spline-gradient.stdout");
if (reference.size () == 0) {
throw std::runtime_error
("failed to open file \"cubic-b-spline-gradient.stdout\"");
}
double tol = 1e-6;

CubicBSpline::vector_t params (7);

for (unsigned x = 0; x < 7; ++x)
{
(*output)
std::cout
<<
(boost::format
("set term wxt persist title 'Spline: base functions' %1% font ',5'")
Expand All @@ -68,7 +100,6 @@ BOOST_AUTO_TEST_CASE (trajectory_cubic_b_spline_gradient)
// Build a cubic spline of dimension 1
CubicBSpline spline (std::make_pair (0., 4.), 1, params);
discreteInterval_t window (0., 4., 0.01);
std::cerr << spline << std::endl;

// Loop over the order of derivation
for (unsigned i = 0; i < 3; ++i)
Expand All @@ -89,17 +120,19 @@ BOOST_AUTO_TEST_CASE (trajectory_cubic_b_spline_gradient)
assert (0);
}

(*output) << "plot '-' title '"<< title <<"' with line\n"
std::cout << "plot '-' title '"<< title <<"' with line\n"
<< std::endl;
// Loop over the interval of definition
for (double t = boost::get<0> (window); t < boost::get<1> (window);
t += boost::get<2> (window))
{
CubicBSpline::vector_t grad = spline.derivative (t, i);
(*output) << (boost::format ("%1.2f %2.4f\n")
std::cout << (boost::format ("%1.2f %2.4f\n")
% normalize (t)
% normalize (grad (0))).str ();

BOOST_CHECK_SMALL (t - reference [nbRows][0], tol);
BOOST_CHECK_SMALL (grad (0) - reference [nbRows][1], tol);
++nbRows;
try
{
// Check gradient
Expand All @@ -116,7 +149,7 @@ BOOST_AUTO_TEST_CASE (trajectory_cubic_b_spline_gradient)
std::cerr << "t=" << t << ", spline=" << spline << std::endl;
}
}
(*output) << "e" << std::endl;
std::cout << "e" << std::endl;
}

// Loop over control points
Expand All @@ -141,7 +174,7 @@ BOOST_AUTO_TEST_CASE (trajectory_cubic_b_spline_gradient)
}
title.append ((boost::format (" (%1%)") % j).str ());

(*output)
std::cout
<< "plot '-' title '"<< title
<< "' with line\n" << std::endl;
// Loop over the interval of definition
Expand All @@ -150,19 +183,17 @@ BOOST_AUTO_TEST_CASE (trajectory_cubic_b_spline_gradient)
{
CubicBSpline::matrix_t jac =
spline.variationDerivWrtParam (t, i);
(*output) << (boost::format ("%1.2f %2.4f\n")
std::cout << (boost::format ("%1.2f %2.4f\n")
% normalize (t)
% normalize (jac (0, j))).str ();
BOOST_CHECK_SMALL (t - reference [nbRows][0], tol);
BOOST_CHECK_SMALL (jac (0, j) - reference [nbRows][1], tol);
++nbRows;
}
(*output) << "e" << std::endl;
std::cout << "e" << std::endl;
}
(*output) << "unset multiplot" << std::endl;
std::cout << "unset multiplot" << std::endl;
}


std::cout << output->str () << std::endl;

BOOST_CHECK (output->match_pattern ());
}

BOOST_AUTO_TEST_SUITE_END ()
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