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Add MANIF_ASSERT #138

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merged 2 commits into from
Jun 17, 2020
Merged

Add MANIF_ASSERT #138

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f69e9b6
add MANIF_ASSERT
artivis Jun 12, 2020
ddb95ea
fix MANIF_ASSERT tests
artivis Jun 12, 2020
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21 changes: 21 additions & 0 deletions include/manif/impl/macro.h
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Original file line number Diff line number Diff line change
Expand Up @@ -3,6 +3,12 @@

#include <stdexcept> // for std::runtime_error

#ifdef NDEBUG
# ifndef MANIF_NO_DEBUG
# define MANIF_NO_DEBUG
# endif
#endif

namespace manif {

struct runtime_error : std::runtime_error
Expand Down Expand Up @@ -73,6 +79,21 @@ raise(Args&&... args)
__MANIF_CHECK_MSG, \
__MANIF_CHECK)(__VA_ARGS__) )

// Assertions cost run time and can be turned off.
// You can suppress MANIF_ASSERT by defining
// MANIF_NO_DEBUG before including manif headers.
// MANIF_NO_DEBUG is undefined by default unless NDEBUG is defined.
#ifndef MANIF_NO_DEBUG
#define MANIF_ASSERT(...) \
__MANIF_EXPAND( \
__MANIF_GET_MACRO_3(__VA_ARGS__, \
__MANIF_CHECK_MSG_EXCEPT, \
__MANIF_CHECK_MSG, \
__MANIF_CHECK)(__VA_ARGS__) )
#else
#define MANIF_ASSERT(...) ((void)0)
#endif

#define MANIF_NOT_IMPLEMENTED_YET \
MANIF_THROW("Not implemented yet !");

Expand Down
8 changes: 4 additions & 4 deletions include/manif/impl/se2/SE2.h
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Expand Up @@ -159,10 +159,10 @@ SE2<_Scalar>::SE2(const Eigen::MatrixBase<_EigenDerived>& data)
: data_(data)
{
using std::abs;
MANIF_CHECK(abs(data_.template tail<2>().norm()-Scalar(1)) <
Constants<Scalar>::eps_s,
"SE2 constructor argument not normalized !",
invalid_argument);
MANIF_ASSERT(abs(data_.template tail<2>().norm()-Scalar(1)) <
Constants<Scalar>::eps_s,
"SE2 constructor argument not normalized !",
invalid_argument);
}

template <typename _Scalar>
Expand Down
8 changes: 4 additions & 4 deletions include/manif/impl/se3/SE3.h
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Expand Up @@ -157,10 +157,10 @@ SE3<_Scalar>::SE3(const Eigen::MatrixBase<_EigenDerived>& data)
: data_(data)
{
using std::abs;
MANIF_CHECK(abs(data_.template tail<4>().norm()-Scalar(1)) <
Constants<Scalar>::eps_s,
"SE3 constructor argument not normalized !",
invalid_argument);
MANIF_ASSERT(abs(data_.template tail<4>().norm()-Scalar(1)) <
Constants<Scalar>::eps_s,
"SE3 constructor argument not normalized !",
invalid_argument);
}

template <typename _Scalar>
Expand Down
6 changes: 3 additions & 3 deletions include/manif/impl/so2/SO2.h
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Expand Up @@ -116,9 +116,9 @@ SO2<_Scalar>::SO2(const Eigen::MatrixBase<_EigenDerived>& data)
: data_(data)
{
using std::abs;
MANIF_CHECK(abs(data_.norm()-Scalar(1)) < Constants<Scalar>::eps_s,
"SO2 constructor argument not normalized !",
invalid_argument);
MANIF_ASSERT(abs(data_.norm()-Scalar(1)) < Constants<Scalar>::eps_s,
"SO2 constructor argument not normalized !",
invalid_argument);
}

template <typename _Scalar>
Expand Down
6 changes: 3 additions & 3 deletions include/manif/impl/so3/SO3.h
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Expand Up @@ -131,9 +131,9 @@ SO3<_Scalar>::SO3(const Eigen::MatrixBase<_EigenDerived>& data)
: data_(data)
{
using std::abs;
MANIF_CHECK(abs(data_.norm()-Scalar(1)) < Constants<Scalar>::eps_s,
"SO3 constructor argument not normalized !",
invalid_argument);
MANIF_ASSERT(abs(data_.norm()-Scalar(1)) < Constants<Scalar>::eps_s,
"SO3 constructor argument not normalized !",
invalid_argument);
}

template <typename _Scalar>
Expand Down
42 changes: 23 additions & 19 deletions test/se2/gtest_se2.cpp
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Expand Up @@ -84,25 +84,6 @@ TEST(TEST_SE2, TEST_SE2_CONSTRUCTOR_COPY)
EXPECT_DOUBLE_EQ(MANIF_PI/4., se2.angle());
}

TEST(TEST_SE2, TEST_SE2_CONSTRUCTOR_NOT_NORMALIZED_ARGS)
{
EXPECT_THROW(
SE2d se2(SE2d(4, 2, 1, 1)),
manif::invalid_argument
);

EXPECT_THROW(
SE2d se2(SE2d::DataType(4, 2, 1, 1)),
manif::invalid_argument
);

try {
SE2d se2(SE2d::DataType(4, 2, 1, 1));
} catch (manif::invalid_argument& e) {
EXPECT_FALSE(std::string(e.what()).empty());
}
}

TEST(TEST_SE2, TEST_SE2_COEFFS)
{
SE2d se2(4, 2, 0);
Expand Down Expand Up @@ -523,6 +504,27 @@ TEST(TEST_SE2, TEST_SE2_ACT)
EXPECT_NEAR(1, transformed_point.y(), 1e-15);
}

#ifndef MANIF_NO_DEBUG

TEST(TEST_SE2, TEST_SE2_CONSTRUCTOR_NOT_NORMALIZED_ARGS)
{
EXPECT_THROW(
SE2d se2(SE2d(4, 2, 1, 1)),
manif::invalid_argument
);

EXPECT_THROW(
SE2d se2(SE2d::DataType(4, 2, 1, 1)),
manif::invalid_argument
);

try {
SE2d se2(SE2d::DataType(4, 2, 1, 1));
} catch (manif::invalid_argument& e) {
EXPECT_FALSE(std::string(e.what()).empty());
}
}

TEST(TEST_SE2, TEST_SE2_CONSTRUCTOR_UNNORMALIZED)
{
using DataType = typename SE2d::DataType;
Expand All @@ -548,6 +550,8 @@ TEST(TEST_SE2, TEST_SE2_NORMALIZE)
);
}

#endif

MANIF_TEST(SE2d);

MANIF_TEST_MAP(SE2d);
Expand Down
46 changes: 25 additions & 21 deletions test/se3/gtest_se3.cpp
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Expand Up @@ -82,27 +82,6 @@ TEST(TEST_SE3, TEST_SE3_CONSTRUCTOR_COPY)
EXPECT_DOUBLE_EQ(1, se3.coeffs()(6));
}

TEST(TEST_SE3, TEST_SE3_CONSTRUCTOR_NOT_NORMALIZED_ARGS)
{
// EXPECT_THROW(
// SE3d se3(SE3d(1, 1)),
// manif::invalid_argument
// );

SE3d::DataType values; values << 0,0,0, 1,1,1,1;

EXPECT_THROW(
SE3d se3(values),
manif::invalid_argument
);

try {
SE3d se3(values);
} catch (manif::invalid_argument& e) {
EXPECT_FALSE(std::string(e.what()).empty());
}
}

TEST(TEST_SE3, TEST_SE3_DATA)
{
SE3d::DataType values; values << 0,0,0, 0,0,0,1;
Expand Down Expand Up @@ -353,6 +332,29 @@ TEST(TEST_SE3, TEST_SE3_ISOMETRY)
EXPECT_DOUBLE_EQ(3, se3h.matrix()(2,3));
}

#ifndef MANIF_NO_DEBUG

TEST(TEST_SE3, TEST_SE3_CONSTRUCTOR_NOT_NORMALIZED_ARGS)
{
// EXPECT_THROW(
// SE3d se3(SE3d(1, 1)),
// manif::invalid_argument
// );

SE3d::DataType values; values << 0,0,0, 1,1,1,1;

EXPECT_THROW(
SE3d se3(values),
manif::invalid_argument
);

try {
SE3d se3(values);
} catch (manif::invalid_argument& e) {
EXPECT_FALSE(std::string(e.what()).empty());
}
}

TEST(TEST_SE3, TEST_SE3_CONSTRUCTOR_UNNORMALIZED)
{
using DataType = typename SE3d::DataType;
Expand All @@ -378,6 +380,8 @@ TEST(TEST_SE3, TEST_SE3_NORMALIZE)
);
}

#endif

MANIF_TEST(SE3d);

MANIF_TEST_MAP(SE3d);
Expand Down
42 changes: 23 additions & 19 deletions test/so2/gtest_so2.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,25 +42,6 @@ TEST(TEST_SO2, TEST_SO2_CONSTRUCTOR_COPY)
EXPECT_DOUBLE_EQ(MANIF_PI/4., so2.angle());
}

TEST(TEST_SO2, TEST_SO2_CONSTRUCTOR_NOT_NORMALIZED_ARGS)
{
EXPECT_THROW(
SO2d so2(SO2d(1, 1)),
manif::invalid_argument
);

EXPECT_THROW(
SO2d so2(SO2d::DataType(1, 1)),
manif::invalid_argument
);

try {
SO2d so2(SO2d::DataType(1, 1));
} catch (manif::invalid_argument& e) {
EXPECT_FALSE(std::string(e.what()).empty());
}
}

TEST(TEST_SO2, TEST_SO2_COEFFS)
{
SO2d so2(0);
Expand Down Expand Up @@ -551,6 +532,27 @@ TEST(TEST_SO2, TEST_SO2_ACT)
EXPECT_NEAR(+1, transformed_point.y(), 1e-15);
}

#ifndef MANIF_NO_DEBUG

TEST(TEST_SO2, TEST_SO2_CONSTRUCTOR_NOT_NORMALIZED_ARGS)
{
EXPECT_THROW(
SO2d so2(SO2d(1, 1)),
manif::invalid_argument
);

EXPECT_THROW(
SO2d so2(SO2d::DataType(1, 1)),
manif::invalid_argument
);

try {
SO2d so2(SO2d::DataType(1, 1));
} catch (manif::invalid_argument& e) {
EXPECT_FALSE(std::string(e.what()).empty());
}
}

TEST(TEST_SO2, TEST_SO2_CONSTRUCTOR_UNNORMALIZED)
{
using DataType = typename SO2d::DataType;
Expand All @@ -576,6 +578,8 @@ TEST(TEST_SO2, TEST_SO2_NORMALIZE)
);
}

#endif

MANIF_TEST(SO2d);

MANIF_TEST_MAP(SO2d);
Expand Down
42 changes: 23 additions & 19 deletions test/so3/gtest_so3.cpp
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Expand Up @@ -56,25 +56,6 @@ TEST(TEST_SO3, TEST_SO3_CONSTRUCTOR_ROLL_PITCH_YAW)
EXPECT_DOUBLE_EQ(1, so3.w());
}

TEST(TEST_SO3, TEST_SO3_CONSTRUCTOR_NOT_NORMALIZED_ARGS)
{
EXPECT_THROW(
SO3d so3(SO3d(1, 1, 1, 1)),
manif::invalid_argument
);

EXPECT_THROW(
SO3d so3(SO3d::DataType(1, 1, 1, 1)),
manif::invalid_argument
);

try {
SO3d so3(SO3d::DataType(1, 1, 1, 1));
} catch (manif::invalid_argument& e) {
EXPECT_FALSE(std::string(e.what()).empty());
}
}

TEST(TEST_SO3, TEST_SO3_IDENTITY)
{
SO3d so3;
Expand Down Expand Up @@ -566,6 +547,27 @@ TEST(TEST_SO3, TEST_SO3_ACT)
EXPECT_NEAR( 1, transformed_point.z(), 1e-15);
}

#ifndef MANIF_NO_DEBUG

TEST(TEST_SO3, TEST_SO3_CONSTRUCTOR_NOT_NORMALIZED_ARGS)
{
EXPECT_THROW(
SO3d so3(SO3d(1, 1, 1, 1)),
manif::invalid_argument
);

EXPECT_THROW(
SO3d so3(SO3d::DataType(1, 1, 1, 1)),
manif::invalid_argument
);

try {
SO3d so3(SO3d::DataType(1, 1, 1, 1));
} catch (manif::invalid_argument& e) {
EXPECT_FALSE(std::string(e.what()).empty());
}
}

TEST(TEST_SO3, TEST_SO3_CONSTRUCTOR_UNNORMALIZED)
{
using DataType = typename SO3d::DataType;
Expand All @@ -591,6 +593,8 @@ TEST(TEST_SO3, TEST_SO3_NORMALIZE)
);
}

#endif

MANIF_TEST(SO3d);

MANIF_TEST_MAP(SO3d);
Expand Down