95 lines
2.4 KiB
C++
95 lines
2.4 KiB
C++
/*
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* Copyright (C) 2012 Open Source Robotics Foundation
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*
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* Licensed under the Apache License, Version 2.0 (the "License");
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* you may not use this file except in compliance with the License.
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* You may obtain a copy of the License at
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*
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* http://www.apache.org/licenses/LICENSE-2.0
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*
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* Unless required by applicable law or agreed to in writing, software
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* distributed under the License is distributed on an "AS IS" BASIS,
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* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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* See the License for the specific language governing permissions and
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* limitations under the License.
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*
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*/
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#include <gtest/gtest.h>
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#include "gazebo/math/Helpers.hh"
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#include "gazebo/math/Rand.hh"
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using namespace gazebo;
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class RandTest : public ::testing::Test { };
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//////////////////////////////////////////////////
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TEST_F(RandTest, Rand)
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{
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double d;
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int i;
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// TODO: implement a proper random number generator test
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d = gazebo::math::Rand::GetDblUniform(1, 2);
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EXPECT_LE(d, 2);
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EXPECT_GE(d, 1);
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i = math::Rand::GetIntUniform(1, 2);
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EXPECT_LE(i, 2);
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EXPECT_GE(i, 1);
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i = math::Rand::GetIntNormal(2, 3);
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EXPECT_LE(i, GZ_INT32_MAX);
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EXPECT_GE(i, -GZ_INT32_MAX);
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// Test setting the random number seed
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{
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// Set the seed and get two numbers
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math::Rand::SetSeed(1001);
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d = math::Rand::GetDblNormal(2, 3);
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i = math::Rand::GetIntNormal(2, 3);
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// Get two more numbers
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double d1 = math::Rand::GetDblNormal(2, 3);
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int i1 = math::Rand::GetIntNormal(2, 3);
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// and make sure they're different
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EXPECT_GT(std::abs(d - d1), 0);
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EXPECT_NE(i, i1);
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// Reset the seed to the original value
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math::Rand::SetSeed(1001);
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// Get two numbers again
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double d2 = math::Rand::GetDblNormal(2, 3);
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int i2 = math::Rand::GetIntNormal(2, 3);
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// and make sure they match the first numbers
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EXPECT_DOUBLE_EQ(d, d2);
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EXPECT_EQ(i, i2);
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}
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}
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//////////////////////////////////////////////////
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TEST_F(RandTest, SetSeed)
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{
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int N = 10;
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std::vector<int> first;
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std::vector<int> second;
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for (int i = 0; i < N; ++i)
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{
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math::Rand::SetSeed(i);
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first.push_back(math::Rand::GetIntUniform(-10, 10));
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second.push_back(math::Rand::GetIntUniform(-10, 10));
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}
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for (int i = 0; i < N; ++i)
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{
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math::Rand::SetSeed(i);
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EXPECT_EQ(first[i], math::Rand::GetIntUniform(-10, 10));
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EXPECT_EQ(second[i], math::Rand::GetIntUniform(-10, 10));
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}
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}
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