ode/src/testing.h

   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, const 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