forked from logzhan/ORB-SLAM3-UESTC
130 lines
6.5 KiB
C++
130 lines
6.5 KiB
C++
#ifndef SOPUHS_TESTS_MACROS_HPP
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#define SOPUHS_TESTS_MACROS_HPP
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#include <sophus/types.hpp>
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#include <sophus/formatstring.hpp>
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namespace Sophus {
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namespace details {
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template <class Scalar>
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class Pretty {
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public:
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static std::string impl(Scalar s) { return FormatString("%", s); }
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};
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template <class Scalar, int M, int N>
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class Pretty<Eigen::Matrix<Scalar, M, N>> {
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public:
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static std::string impl(Matrix<Scalar, M, N> const& v) {
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return FormatString("\n%\n", v);
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}
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};
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template <class T>
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std::string pretty(T const& v) {
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return Pretty<T>::impl(v);
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}
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template <class... Args>
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void testFailed(bool& passed, char const* func, char const* file, int line,
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std::string const& msg) {
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std::cerr << FormatString("Test failed in function %, file %, line %\n", func,
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file, line);
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std::cerr << msg << "\n\n";
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passed = false;
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}
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} // namespace details
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void processTestResult(bool passed) {
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if (!passed) {
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// LCOV_EXCL_START
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std::cerr << "failed!" << std::endl << std::endl;
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exit(-1);
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// LCOV_EXCL_STOP
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}
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std::cerr << "passed." << std::endl << std::endl;
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}
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} // namespace Sophus
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#define SOPHUS_STRINGIFY(x) #x
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/// GenericTests whether condition is true.
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/// The in-out parameter passed will be set to false if test fails.
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#define SOPHUS_TEST(passed, condition, ...) \
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do { \
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if (!(condition)) { \
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std::string msg = Sophus::details::FormatString( \
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"condition ``%`` is false\n", SOPHUS_STRINGIFY(condition)); \
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msg += Sophus::details::FormatString(__VA_ARGS__); \
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Sophus::details::testFailed(passed, SOPHUS_FUNCTION, __FILE__, __LINE__, \
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msg); \
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} \
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} while (false)
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/// GenericTests whether left is equal to right given a threshold.
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/// The in-out parameter passed will be set to false if test fails.
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#define SOPHUS_TEST_EQUAL(passed, left, right, ...) \
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do { \
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if (left != right) { \
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std::string msg = Sophus::details::FormatString( \
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"% (=%) is not equal to % (=%)\n", SOPHUS_STRINGIFY(left), \
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Sophus::details::pretty(left), SOPHUS_STRINGIFY(right), \
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Sophus::details::pretty(right)); \
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msg += Sophus::details::FormatString(__VA_ARGS__); \
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Sophus::details::testFailed(passed, SOPHUS_FUNCTION, __FILE__, __LINE__, \
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msg); \
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} \
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} while (false)
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/// GenericTests whether left is equal to right given a threshold.
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/// The in-out parameter passed will be set to false if test fails.
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#define SOPHUS_TEST_NEQ(passed, left, right, ...) \
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do { \
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if (left == right) { \
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std::string msg = Sophus::details::FormatString( \
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"% (=%) shoudl not be equal to % (=%)\n", SOPHUS_STRINGIFY(left), \
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Sophus::details::pretty(left), SOPHUS_STRINGIFY(right), \
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Sophus::details::pretty(right)); \
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msg += Sophus::details::FormatString(__VA_ARGS__); \
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Sophus::details::testFailed(passed, SOPHUS_FUNCTION, __FILE__, __LINE__, \
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msg); \
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} \
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} while (false)
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/// GenericTests whether left is approximatly equal to right given a threshold.
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/// The in-out parameter passed will be set to false if test fails.
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#define SOPHUS_TEST_APPROX(passed, left, right, thr, ...) \
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do { \
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auto nrm = Sophus::maxMetric((left), (right)); \
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if (!(nrm < (thr))) { \
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std::string msg = Sophus::details::FormatString( \
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"% (=%) is not approx % (=%); % is %; nrm is %\n", \
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SOPHUS_STRINGIFY(left), Sophus::details::pretty(left), \
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SOPHUS_STRINGIFY(right), Sophus::details::pretty(right), \
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SOPHUS_STRINGIFY(thr), Sophus::details::pretty(thr), nrm); \
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msg += Sophus::details::FormatString(__VA_ARGS__); \
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Sophus::details::testFailed(passed, SOPHUS_FUNCTION, __FILE__, __LINE__, \
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msg); \
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} \
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} while (false)
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/// GenericTests whether left is NOT approximatly equal to right given a
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/// threshold. The in-out parameter passed will be set to false if test fails.
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#define SOPHUS_TEST_NOT_APPROX(passed, left, right, thr, ...) \
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do { \
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auto nrm = Sophus::maxMetric((left), (right)); \
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if (nrm < (thr)) { \
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std::string msg = Sophus::details::FormatString( \
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"% (=%) is approx % (=%), but it should not!\n % is %; nrm is %\n", \
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SOPHUS_STRINGIFY(left), Sophus::details::pretty(left), \
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SOPHUS_STRINGIFY(right), Sophus::details::pretty(right), \
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SOPHUS_STRINGIFY(thr), Sophus::details::pretty(thr), nrm); \
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msg += Sophus::details::FormatString(__VA_ARGS__); \
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Sophus::details::testFailed(passed, SOPHUS_FUNCTION, __FILE__, __LINE__, \
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msg); \
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} \
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} while (false)
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#endif // SOPUHS_TESTS_MACROS_HPP
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