/*************************************************************************
 *                                                                       *
 * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith.       *
 * All rights reserved.  Email: russ@q12.org   Web: www.q12.org          *
 *                                                                       *
 * This library is free software; you can redistribute it and/or         *
 * modify it under the terms of EITHER:                                  *
 *   (1) The GNU Lesser General Public License as published by the Free  *
 *       Software Foundation; either version 2.1 of the License, or (at  *
 *       your option) any later version. The text of the GNU Lesser      *
 *       General Public License is included with this library in the     *
 *       file LICENSE.TXT.                                               *
 *   (2) The BSD-style license that is included with this library in     *
 *       the file LICENSE-BSD.TXT.                                       *
 *                                                                       *
 * This library 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 files    *
 * LICENSE.TXT and LICENSE-BSD.TXT for more details.                     *
 *                                                                       *
 *************************************************************************/

/* stuff used for testing */

#ifndef _ODE_TESTING_H_
#define _ODE_TESTING_H_

#include <ode/common.h>
#include "array.h"


// compare a sequence of named matrices/vectors, i.e. to make sure that two
// different pieces of code are giving the same results.

class dMatrixComparison {
  struct dMatInfo;
  dArray<dMatInfo*> mat;
  int afterfirst,index;

public:
  dMatrixComparison();
  ~dMatrixComparison();

  dReal nextMatrix (dReal *A, int n, int m, int lower_tri, char *name, ...);
  // add a new n*m matrix A to the sequence. the name of the matrix is given
  // by the printf-style arguments (name,...). if this is the first sequence
  // then this object will simply record the matrices and return 0.
  // if this the second or subsequent sequence then this object will compare
  // the matrices with the first sequence, and report any differences.
  // the matrix error will be returned. if `lower_tri' is 1 then only the
  // lower triangle of the matrix (including the diagonal) will be compared
  // (the matrix must be square).

  void end();
  // end a sequence.

  void reset();
  // restarts the object, so the next sequence will be the first sequence.

  void dump();
  // print out info about all the matrices in the sequence
};


#endif