1 | /************************************************************************* |
---|
2 | * * |
---|
3 | * Open Dynamics Engine, Copyright (C) 2001,2002 Russell L. Smith. * |
---|
4 | * All rights reserved. Email: russ@q12.org Web: www.q12.org * |
---|
5 | * * |
---|
6 | * This library is free software; you can redistribute it and/or * |
---|
7 | * modify it under the terms of EITHER: * |
---|
8 | * (1) The GNU Lesser General Public License as published by the Free * |
---|
9 | * Software Foundation; either version 2.1 of the License, or (at * |
---|
10 | * your option) any later version. The text of the GNU Lesser * |
---|
11 | * General Public License is included with this library in the * |
---|
12 | * file LICENSE.TXT. * |
---|
13 | * (2) The BSD-style license that is included with this library in * |
---|
14 | * the file LICENSE-BSD.TXT. * |
---|
15 | * * |
---|
16 | * This library is distributed in the hope that it will be useful, * |
---|
17 | * but WITHOUT ANY WARRANTY; without even the implied warranty of * |
---|
18 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the files * |
---|
19 | * LICENSE.TXT and LICENSE-BSD.TXT for more details. * |
---|
20 | * * |
---|
21 | *************************************************************************/ |
---|
22 | |
---|
23 | /* stuff used for testing */ |
---|
24 | |
---|
25 | #ifndef _ODE_TESTING_H_ |
---|
26 | #define _ODE_TESTING_H_ |
---|
27 | |
---|
28 | #include <ode/common.h> |
---|
29 | #include "array.h" |
---|
30 | |
---|
31 | |
---|
32 | // compare a sequence of named matrices/vectors, i.e. to make sure that two |
---|
33 | // different pieces of code are giving the same results. |
---|
34 | |
---|
35 | class dMatrixComparison { |
---|
36 | struct dMatInfo; |
---|
37 | dArray<dMatInfo*> mat; |
---|
38 | int afterfirst,index; |
---|
39 | |
---|
40 | public: |
---|
41 | dMatrixComparison(); |
---|
42 | ~dMatrixComparison(); |
---|
43 | |
---|
44 | dReal nextMatrix (dReal *A, int n, int m, int lower_tri, char *name, ...); |
---|
45 | // add a new n*m matrix A to the sequence. the name of the matrix is given |
---|
46 | // by the printf-style arguments (name,...). if this is the first sequence |
---|
47 | // then this object will simply record the matrices and return 0. |
---|
48 | // if this the second or subsequent sequence then this object will compare |
---|
49 | // the matrices with the first sequence, and report any differences. |
---|
50 | // the matrix error will be returned. if `lower_tri' is 1 then only the |
---|
51 | // lower triangle of the matrix (including the diagonal) will be compared |
---|
52 | // (the matrix must be square). |
---|
53 | |
---|
54 | void end(); |
---|
55 | // end a sequence. |
---|
56 | |
---|
57 | void reset(); |
---|
58 | // restarts the object, so the next sequence will be the first sequence. |
---|
59 | |
---|
60 | void dump(); |
---|
61 | // print out info about all the matrices in the sequence |
---|
62 | }; |
---|
63 | |
---|
64 | |
---|
65 | #endif |
---|