[roboptim-commit] [SCM] roboptim-trajectory branch, master, updated. v0.2-22-ga38a277

[Thomas M. <tho...@us...>]

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- Log -----------------------------------------------------------------
commit a38a277e6553f4ba509ca607863ad9f9ffdcc390
Author: Thomas Moulard <tho...@gm...>
Date:   Fri Nov 6 13:11:12 2009 +0100

    Check scaling functions in FreeTimeTrajectory test.
    
    	* include/roboptim/trajectory/free-time-trajectory.hh:
    	Make scaleTime and unscaleTime public.
    	* tests/free-time-trajectory.cc: Check scaling functions.
    	* tests/free-time-trajectory.stdout: Regenerate.
    
    Signed-off-by: Thomas Moulard <tho...@gm...>

diff --git a/ChangeLog b/ChangeLog
index 1e9ffb2..22bc76c 100644
--- a/ChangeLog
+++ b/ChangeLog
@@ -1,3 +1,11 @@
+2009-11-06  Thomas Moulard  <tho...@gm...>
+
+	Check scaling functions in FreeTimeTrajectory test.
+	* include/roboptim/trajectory/free-time-trajectory.hh:
+	Make scaleTime and unscaleTime public.
+	* tests/free-time-trajectory.cc: Check scaling functions.
+	* tests/free-time-trajectory.stdout: Regenerate.
+
 2009-11-05  Thomas Moulard  <tho...@gm...>
 
 	Add missing semi-colon in Spline class.
diff --git a/include/roboptim/trajectory/free-time-trajectory.hh b/include/roboptim/trajectory/free-time-trajectory.hh
index f0d6ba5..28ee40e 100644
--- a/include/roboptim/trajectory/free-time-trajectory.hh
+++ b/include/roboptim/trajectory/free-time-trajectory.hh
@@ -136,12 +136,7 @@ namespace roboptim
       assert (trajectory_);
       return trajectory_->resize (this->timeRange ());
     }
-  protected:
-    void impl_compute (result_t&, double) const throw ();
-    void impl_derivative (gradient_t& g, double x, size_type order)
-      const throw ();
 
-  private:
     /// \brief Scale input time argument.
     ///
     /// Scale input argument with the same factor that the input
@@ -155,6 +150,12 @@ namespace roboptim
     double scaleTime (double t) const throw ();
     double unscaleTime (double t) const throw ();
 
+  protected:
+    void impl_compute (result_t&, double) const throw ();
+    void impl_derivative (gradient_t& g, double x, size_type order)
+      const throw ();
+
+  private:
     /// \brief Input fixed time trajectory.
     Trajectory<DerivabilityOrder>* trajectory_;
   };
diff --git a/tests/free-time-trajectory.cc b/tests/free-time-trajectory.cc
index 0750bf9..bee5619 100644
--- a/tests/free-time-trajectory.cc
+++ b/tests/free-time-trajectory.cc
@@ -38,6 +38,12 @@ using namespace roboptim;
 
 typedef FreeTimeTrajectory<Spline::derivabilityOrder> freeTime_t;
 
+template <typename T>
+bool isAlmostEqual (const T& x, const T& y, const T& epsilon = 1e10-8)
+{
+  return (x - y) * (x - y) < epsilon;
+}
+
 struct ConfigWrtParam : public DerivableFunction
 {
   ConfigWrtParam (const freeTime_t& traj, double t) throw ()
@@ -253,6 +259,7 @@ void printTable (const Spline& spline, const freeTime_t& freeTimeTraj)
 
 int run_test ()
 {
+  typedef Spline::value_type value_type;
   Spline::vector_t params (5);
 
   // Scale.
@@ -274,6 +281,61 @@ int run_test ()
   assert (freeTimeTraj.inputSize () == 1);
   assert (freeTimeTraj.outputSize () == 1);
 
+  // Check scaling and unscaling.
+  {
+    params[0] = 3.14;
+    freeTimeTraj.setParameters (params);
+    value_type t = 0.32;
+    StableTimePoint stp (t / freeTimeTraj.length ());
+
+    std::cout << "Checking StableTimePoint scaling." << std::endl;
+    assert (isAlmostEqual
+	    (stp.getTime (freeTimeTraj.timeRange ()), t));
+
+    std::cout << "Checking scale/unscale methods." << std::endl;
+    assert (isAlmostEqual
+	    (freeTimeTraj.unscaleTime (freeTimeTraj.scaleTime (t)), t));
+
+    std::cout << "Checking scale using tmin/tmax." << std::endl;
+    value_type tMin = Function::getLowerBound (freeTimeTraj.timeRange ());
+    value_type tMax = Function::getUpperBound (freeTimeTraj.timeRange ());
+
+    value_type tmin = Function::getLowerBound
+      (freeTimeTraj.getFixedTimeTrajectory ().timeRange ());
+    value_type tmax = Function::getUpperBound
+      (freeTimeTraj.getFixedTimeTrajectory ().timeRange ());
+
+    assert (tmax != tMax); // Just to be sure a real scaling is done.
+
+    assert (isAlmostEqual (freeTimeTraj.scaleTime (tMin), tmin));
+    assert (isAlmostEqual (freeTimeTraj.scaleTime (tMax), tmax));
+
+    assert (isAlmostEqual (freeTimeTraj.unscaleTime (tmin), tMin));
+    assert (isAlmostEqual (freeTimeTraj.unscaleTime (tmax), tMax));
+
+    assert (isAlmostEqual (freeTimeTraj.unscaleTime ((tmax - tmin) / 2.),
+			   (tMax - tMin) / 2.));
+    assert (isAlmostEqual (freeTimeTraj.unscaleTime ((tmax - tmin) / 4.),
+			   (tMax - tMin) / 4.));
+
+
+    std::cout << "Checking StableTimePoint scaling." << std::endl;
+    assert (isAlmostEqual
+	    ((0. * roboptim::tMax).getTime (freeTimeTraj.timeRange ()), tmin));
+    assert (isAlmostEqual
+	    ((1. * roboptim::tMax).getTime (freeTimeTraj.timeRange ()), tmax));
+    assert (isAlmostEqual
+	    ((.5 * roboptim::tMax).getTime (freeTimeTraj.timeRange ()),
+	     (tmax - tmin) / 2.));
+    assert (isAlmostEqual
+	    ((.25 * roboptim::tMax).getTime (freeTimeTraj.timeRange ()),
+	     (tmax - tmin) / 4.));
+
+  }
+
+
+  params[0] = 1.;
+  freeTimeTraj.setParameters (params);
   printTable (spline, freeTimeTraj);
 
   params[0] = .5;
diff --git a/tests/free-time-trajectory.stdout b/tests/free-time-trajectory.stdout
index 5c55044..0c7ed72 100644
--- a/tests/free-time-trajectory.stdout
+++ b/tests/free-time-trajectory.stdout
@@ -1,3 +1,7 @@
+Checking StableTimePoint scaling.
+Checking scale/unscale methods.
+Checking scale using tmin/tmax.
+Checking StableTimePoint scaling.
 Spline range: [0, 4]
 FTT range: [0, 4]
 /------------------------------------------------------------------------------\

-----------------------------------------------------------------------

Summary of changes:
 ChangeLog                                          |    8 +++
 .../roboptim/trajectory/free-time-trajectory.hh    |   11 ++--
 tests/free-time-trajectory.cc                      |   62 ++++++++++++++++++++
 tests/free-time-trajectory.stdout                  |    4 +
 4 files changed, 80 insertions(+), 5 deletions(-)


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