Visual Servoing Platform version 3.6.0
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testArray2D.cpp
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30 *
31 * Description:
32 * Test some vpColVector functionalities.
33 *
34*****************************************************************************/
35
42#include <cmath>
43#include <limits>
44#include <vector>
45
46#include <visp3/core/vpTranslationVector.h>
47
48template <typename Type> bool test(const std::string &s, const vpArray2D<Type> &A, const std::vector<Type> &bench)
49{
50 static unsigned int cpt = 0;
51 std::cout << "** Test " << ++cpt << std::endl;
52 std::cout << s << "(" << A.getRows() << "," << A.getCols() << ") = \n" << A << std::endl;
53 if (bench.size() != A.size()) {
54 std::cout << "Test fails: bad size wrt bench" << std::endl;
55 return false;
56 }
57 for (unsigned int i = 0; i < A.size(); i++) {
58 if (std::fabs(A.data[i] - bench[i]) > std::fabs(A.data[i]) * std::numeric_limits<double>::epsilon()) {
59 std::cout << "Test fails: bad content" << std::endl;
60 return false;
61 }
62 }
63
64 return true;
65}
66
67int main()
68{
69 {
70 // test default constructor
72 std::vector<double> bench;
73 if (test("A", A, bench) == false)
74 return EXIT_FAILURE;
75 }
76 {
77 // test copy constructor
78 vpArray2D<double> A(3, 4);
79
80 std::vector<double> bench(12);
81 for (unsigned int i = 0; i < 3; i++) {
82 for (unsigned int j = 0; j < 4; j++) {
83 A[i][j] = (double)(i + j);
84 bench[i * 4 + j] = (double)(i + j);
85 }
86 }
87 if (test("A", A, bench) == false)
88 return EXIT_FAILURE;
89
91 if (test("B", B, bench) == false)
92 return EXIT_FAILURE;
93 std::cout << "Min/Max: " << B.getMinValue() << " " << B.getMaxValue() << std::endl;
94 }
95 {
96 // test constructor with initial value
97 vpArray2D<double> A(3, 4, 2.);
98 std::vector<double> bench1(12, 2);
99 if (test("A", A, bench1) == false)
100 return EXIT_FAILURE;
101
102 A.resize(5, 6);
103 std::vector<double> bench2(30, 0);
104 if (test("A", A, bench2) == false)
105 return EXIT_FAILURE;
106
107 A = -2.;
108 std::vector<double> bench3(30, -2);
109 if (test("A", A, bench3) == false)
110 return EXIT_FAILURE;
111 }
112
113 // Test with float
114 {
115 // test default constructor
117 std::vector<float> bench;
118 if (test("A", A, bench) == false)
119 return EXIT_FAILURE;
120 }
121 {
122 // test copy constructor
123 vpArray2D<float> A(3, 4);
124
125 std::vector<float> bench(12);
126 for (unsigned int i = 0; i < 3; i++) {
127 for (unsigned int j = 0; j < 4; j++) {
128 A[i][j] = (float)(i + j);
129 bench[i * 4 + j] = (float)(i + j);
130 }
131 }
132 if (test("A", A, bench) == false)
133 return EXIT_FAILURE;
134
135 vpArray2D<float> B(A);
136 if (test("B", B, bench) == false)
137 return EXIT_FAILURE;
138 std::cout << "Min/Max: " << B.getMinValue() << " " << B.getMaxValue() << std::endl;
139 }
140 {
141 // test constructor with initial value
142 vpArray2D<float> A(3, 4, 2.);
143 std::vector<float> bench1(12, 2);
144 if (test("A", A, bench1) == false)
145 return EXIT_FAILURE;
146
147 A.resize(5, 6);
148 std::vector<float> bench2(30, 0);
149 if (test("A", A, bench2) == false)
150 return EXIT_FAILURE;
151
152 A = -2.;
153 std::vector<float> bench3(30, -2);
154 if (test("A", A, bench3) == false)
155 return EXIT_FAILURE;
156 }
157 {
158 // Test Hadamard product
159 std::cout << "\nTest Hadamard product" << std::endl;
160 vpArray2D<int> A1(3, 5), A2(3, 5);
161 vpRowVector R1(15), R2(15);
162 vpColVector C1(15), C2(15);
163
164 for (unsigned int i = 0; i < A1.size(); i++) {
165 A1.data[i] = i;
166 A2.data[i] = i + 2;
167 R1.data[i] = i;
168 R2.data[i] = i + 2;
169 C1.data[i] = i;
170 C2.data[i] = i + 2;
171 }
172
173 std::cout << "A1:\n" << A1 << std::endl;
174 std::cout << "\nA2:\n" << A2 << std::endl;
175 A2 = A1.hadamard(A2);
176 std::cout << "\nRes:\n" << A2 << std::endl;
177
178 std::cout << "\nR1:\n" << R1 << std::endl;
179 std::cout << "\nR2:\n" << R2 << std::endl;
180 R2 = R1.hadamard(R2);
181 std::cout << "\nRes:\n" << R2 << std::endl;
182
183 std::cout << "\nC1:\n" << C1 << std::endl;
184 std::cout << "\nC2:\n" << C2 << std::endl;
185 C2 = C1.hadamard(C2);
186 std::cout << "\nRes:\n" << C2 << std::endl;
187 }
188 std::cout << "All tests succeed" << std::endl;
189 return EXIT_SUCCESS;
190}
Implementation of a generic 2D array used as base class for matrices and vectors.
Definition vpArray2D.h:131
unsigned int getCols() const
Definition vpArray2D.h:280
Type * data
Address of the first element of the data array.
Definition vpArray2D.h:144
void resize(unsigned int nrows, unsigned int ncols, bool flagNullify=true, bool recopy_=true)
Definition vpArray2D.h:305
unsigned int size() const
Return the number of elements of the 2D array.
Definition vpArray2D.h:292
unsigned int getRows() const
Definition vpArray2D.h:290
Implementation of column vector and the associated operations.
Implementation of row vector and the associated operations.