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sincos.cpp
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sincos.cpp
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//
// Copyright (c) 2018-2019 INRIA
//
#include "pinocchio/fwd.hpp"
#include "pinocchio/math/sincos.hpp"
#include <cstdlib>
#include "utils/macros.hpp"
#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>
namespace
{
template <typename Scalar>
Scalar sinCosTolerance();
template<> inline float sinCosTolerance<float>()
{
return 1e-7f;
}
template<> inline double sinCosTolerance<double>()
{
return 1e-15;
}
template<> inline long double sinCosTolerance<long double>()
{
return 1e-19;
}
}
template<typename Scalar>
void testSINCOS(int n)
{
for(int k = 0; k < n; ++k)
{
Scalar sin_value, cos_value;
Scalar alpha = (Scalar)std::rand()/(Scalar)RAND_MAX;
pinocchio::SINCOS(alpha,&sin_value,&cos_value);
Scalar sin_value_ref = std::sin(alpha),
cos_value_ref = std::cos(alpha);
BOOST_CHECK_CLOSE_FRACTION(sin_value, sin_value_ref, sinCosTolerance<Scalar>());
BOOST_CHECK_CLOSE_FRACTION(cos_value, cos_value_ref, sinCosTolerance<Scalar>());
}
}
BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
BOOST_AUTO_TEST_CASE(test_sincos)
{
#ifndef NDEBUG
const int n = 1e3;
#else
const int n = 1e6;
#endif
testSINCOS<float>(n);
testSINCOS<double>(n);
testSINCOS<long double>(n);
}
BOOST_AUTO_TEST_SUITE_END()