Testable.h

Go to the documentation of this file.

/* ----------------------------------------------------------------------------

 * GTSAM Copyright 2010, Georgia Tech Research Corporation,
 * Atlanta, Georgia 30332-0415
 * All Rights Reserved
 * Authors: Frank Dellaert, et al. (see THANKS for the full author list)

 * See LICENSE for the license information

 * -------------------------------------------------------------------------- */

// \callgraph

#pragma once

#include <gtsam/base/concepts.h>

#include <functional>
#include <iostream>
#include <memory>
#include <string>

#define GTSAM_PRINT(x)((x).print(#x))

namespace gtsam {

  // Forward declaration
  template <typename T> struct traits;

  template <class T>
  class IsTestable {
    T t;
    bool r1,r2;
  public:

    BOOST_CONCEPT_USAGE(IsTestable) {
      // check print function, with optional string
      traits<T>::Print(t, std::string());
      traits<T>::Print(t);

      // check print, with optional threshold
      double tol = 1.0;
      r1 = traits<T>::Equals(t,t,tol);
      r2 = traits<T>::Equals(t,t);
    }
  }; // \ Testable

  inline void print(float v, const std::string& s = "") {
    std::cout << (s.empty() ? s : s + " ") << v << std::endl;
  }
  inline void print(double v, const std::string& s = "") {
    std::cout << (s.empty() ? s : s + " ") << v << std::endl;
  }

  template<class T>
  inline bool equal(const T& obj1, const T& obj2, double tol) {
    return traits<T>::Equals(obj1,obj2, tol);
  }

  template<class T>
  inline bool equal(const T& obj1, const T& obj2) {
    return traits<T>::Equals(obj1,obj2);
  }

  template<class V>
  bool assert_equal(const V& expected, const V& actual, double tol = 1e-9) {
    if (traits<V>::Equals(actual,expected, tol))
      return true;
    printf("Not equal:\n");
    traits<V>::Print(expected,"expected:\n");
    traits<V>::Print(actual,"actual:\n");
    return false;
  }

  template<class V>
  struct equals : public std::function<bool(const V&, const V&)> {
    double tol_;
    equals(double tol = 1e-9) : tol_(tol) {}
    bool operator()(const V& expected, const V& actual) {
      return (traits<V>::Equals(actual, expected, tol_));
    }
  };

  template<class V>
  struct equals_star : public std::function<bool(const std::shared_ptr<V>&, const std::shared_ptr<V>&)> {
    double tol_;
    equals_star(double tol = 1e-9) : tol_(tol) {}
    bool operator()(const std::shared_ptr<V>& expected, const std::shared_ptr<V>& actual) {
      if (!actual && !expected) return true;
      return actual && expected && traits<V>::Equals(*actual,*expected, tol_);
    }
  };

  template<typename T>
  struct HasTestablePrereqs {

    BOOST_CONCEPT_USAGE(HasTestablePrereqs) {
      t->print(str);
      b = t->equals(*s,tol);
    }

    T *t, *s; // Pointer is to allow abstract classes
    bool b;
    double tol;
    std::string str;
  };

  template<typename T>
  struct Testable {

    // Check that T has the necessary methods
    GTSAM_CONCEPT_ASSERT(HasTestablePrereqs<T>);

    static void Print(const T& m, const std::string& str = "") {
      m.print(str);
    }
    static bool Equals(const T& m1, const T& m2, double tol = 1e-8) {
      return m1.equals(m2, tol);
    }
  };

} // \namespace gtsam

#define GTSAM_CONCEPT_TESTABLE_INST(T) template class gtsam::IsTestable<T>;
#define GTSAM_CONCEPT_TESTABLE_TYPE(T) using _gtsam_Testable_##T = gtsam::IsTestable<T>;