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mujoco / data /test /engine /engine_util_blas_test.cc
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introvoyz041
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// Copyright 2022 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
// Tests for engine/engine_util_blas.c
#include "src/engine/engine_util_blas.h"
#include <random>
#include <gmock/gmock.h>
#include <gtest/gtest.h>
#include <mujoco/mjtnum.h>
#include "test/fixture.h"
namespace mujoco {
namespace {
using ::testing::ElementsAre;
using EngineUtilBlasTest = MujocoTest;
TEST_F(EngineUtilBlasTest, MjuDot) {
mjtNum a[] = {1, 2, 3, 4, 5, 6, 7};
mjtNum b[] = {7, 6, 5, 4, 3, 2, 1};
// test various vector lengths because mju_dot adds numbers in groups of four
EXPECT_EQ(mju_dot(a, b, 0), 0);
EXPECT_EQ(mju_dot(a, b, 1), 7);
EXPECT_EQ(mju_dot(a, b, 2), 7 + 2*6);
EXPECT_EQ(mju_dot(a, b, 3), 7 + 2*6 + 3*5);
EXPECT_EQ(mju_dot(a, b, 4), 7 + 2*6 + 3*5 + 4*4);
EXPECT_EQ(mju_dot(a, b, 5), 7 + 2*6 + 3*5 + 4*4 + 5*3);
EXPECT_EQ(mju_dot(a, b, 6), 7 + 2*6 + 3*5 + 4*4 + 5*3 + 6*2);
EXPECT_EQ(mju_dot(a, b, 7), 7 + 2*6 + 3*5 + 4*4 + 5*3 + 6*2 + 7);
}
TEST_F(EngineUtilBlasTest, MjuMulVecMatVec) {
mjtNum vec1[] = {1, 2, 3};
mjtNum vec2[] = {3, 2, 1};
mjtNum mat[] = {
1, 2, 3,
4, 5, 6,
7, 8, 9
};
EXPECT_EQ(mju_mulVecMatVec(vec1, mat, vec2, 3), 204);
}
TEST_F(EngineUtilBlasTest, MjuFill) {
mjtNum vec[] = {0, 1, 4};
mju_fill(vec, 4.5, 3);
EXPECT_EQ(vec[0], 4.5);
EXPECT_EQ(vec[1], 4.5);
EXPECT_EQ(vec[2], 4.5);
}
TEST_F(EngineUtilBlasTest, MjuEye) {
mjtNum mat1[1];
mju_eye(mat1, 1);
EXPECT_EQ(mat1[0], 1);
mjtNum mat3[9];
mju_eye(mat3, 3);
EXPECT_THAT(mat3, ElementsAre(1, 0, 0,
0, 1, 0,
0, 0, 1));
}
TEST_F(EngineUtilBlasTest, MjuSymmetrize) {
mjtNum mat[] = {
1, 2.5, 3.5,
1.5, 2, 4,
2.5, 3, 3
};
mjtNum res[9] = {0};
mju_symmetrize(res, mat, 3);
EXPECT_THAT(res, ElementsAre(1, 2, 3,
2, 2, 3.5,
3, 3.5, 3));
// test for the case res==mat
mju_symmetrize(mat, mat, 3);
EXPECT_THAT(mat, ElementsAre(1, 2, 3,
2, 2, 3.5,
3, 3.5, 3));
}
TEST_F(EngineUtilBlasTest, MjuMulMat3) {
const mjtNum mat1[9] = {
1, 2, 3,
4, 5, 6,
7, 8, 9
};
const mjtNum mat2[9] = {
2, 3, 4,
5, 6, 7,
8, 9, 10
};
mjtNum res1[9] = {0};
mjtNum res2[9] = {0};
mju_mulMatMat3(res1, mat1, mat2);
mju_mulMatMat(res2, mat1, mat2, 3, 3, 3);
for (int i = 0; i < 9; ++i) {
EXPECT_EQ(res1[i], res2[i]);
}
mju_mulMatTMat3(res1, mat1, mat2);
mju_mulMatTMat(res2, mat1, mat2, 3, 3, 3);
for (int i = 0; i < 9; ++i) {
EXPECT_EQ(res1[i], res2[i]);
}
mju_mulMatMatT3(res1, mat1, mat2);
mju_mulMatMatT(res2, mat1, mat2, 3, 3, 3);
for (int i = 0; i < 9; ++i) {
EXPECT_EQ(res1[i], res2[i]);
}
}
// utility: random quaternion, normally distributed
void RandomQuat(mjtNum quat[4], int seed) {
// make distribution using seed
std::mt19937_64 rng;
rng.seed(seed);
std::normal_distribution<mjtNum> dist(0, 1);
// sample
for (int i = 0; i < 4; i++) {
quat[i] = dist(rng);
}
}
TEST_F(EngineUtilBlasTest, Normalize4IsIdempotent) {
for (int i = 0; i < 10000; ++i) {
// make random quaternion and normalize it
mjtNum quat[4];
RandomQuat(quat, i);
mju_normalize4(quat);
// normalize again
mjtNum quat_renormalized[4] = {quat[0], quat[1], quat[2], quat[3]};
mju_normalize4(quat_renormalized);
// expect equality
EXPECT_EQ(quat[0], quat_renormalized[0]);
EXPECT_EQ(quat[1], quat_renormalized[1]);
EXPECT_EQ(quat[2], quat_renormalized[2]);
EXPECT_EQ(quat[3], quat_renormalized[3]);
}
}
TEST_F(EngineUtilBlasTest, Normalize4EdgeCases) {
// zero quat normalizes to unit quat
mjtNum quat[4] = {0};
mjtNum norm = mju_normalize4(quat);
EXPECT_EQ(norm, 0);
EXPECT_EQ(quat[0], 1);
EXPECT_EQ(quat[1], 0);
EXPECT_EQ(quat[2], 0);
EXPECT_EQ(quat[3], 0);
// small quat normalizes regularly
quat[0] = 0;
quat[1] = mjMINVAL;
norm = mju_normalize4(quat);
EXPECT_EQ(norm, mjMINVAL);
EXPECT_EQ(quat[0], 0);
EXPECT_EQ(quat[1], 1);
EXPECT_EQ(quat[2], 0);
EXPECT_EQ(quat[3], 0);
// tiny quat normalizes to unit quat
quat[0] = 0;
quat[1] = mjMINVAL/2;
norm = mju_normalize4(quat);
EXPECT_EQ(norm, mjMINVAL/2);
EXPECT_EQ(quat[0], 1);
EXPECT_EQ(quat[1], 0);
EXPECT_EQ(quat[2], 0);
EXPECT_EQ(quat[3], 0);
// near-unit quat is normalized
quat[0] = 1 + mjMINVAL;
quat[1] = 0;
norm = mju_normalize4(quat);
EXPECT_EQ(norm, 1 + mjMINVAL);
EXPECT_EQ(quat[0], 1);
EXPECT_EQ(quat[1], 0);
EXPECT_EQ(quat[2], 0);
EXPECT_EQ(quat[3], 0);
// very-near-unit quat is untouched
quat[0] = 1 + mjMINVAL/2;
quat[1] = 0;
norm = mju_normalize4(quat);
EXPECT_EQ(norm, 1 + mjMINVAL/2);
EXPECT_EQ(quat[0], 1 + mjMINVAL/2);
EXPECT_EQ(quat[1], 0);
EXPECT_EQ(quat[2], 0);
EXPECT_EQ(quat[3], 0);
}
} // namespace
} // namespace mujoco