void TestQcInterval::constructor()
{
QcIntervalInt interval1(1, 10);
QcIntervalInt interval2(2, 20);
QVERIFY(interval1.inf() == 1);
QVERIFY(interval1.sup() == 10);
}
TEST(PolynomialValuesTest, PolnomialDegree2Values)
{
SurgSim::Math::Polynomial<double, 2> quadraticPoly(-8.0, 6.0, 2.0);
SurgSim::Math::Interval<double> interval1(-1.0, 10.0);
SurgSim::Math::Interval<double> interval2(-2.0, 10.0);
PolynomialValues<double, 2> quadraticValues(quadraticPoly);
EXPECT_DOUBLE_EQ(quadraticPoly.getCoefficient(0), quadraticValues.getPolynomial().getCoefficient(0));
EXPECT_DOUBLE_EQ(quadraticPoly.getCoefficient(1), quadraticValues.getPolynomial().getCoefficient(1));
EXPECT_DOUBLE_EQ(quadraticPoly.getCoefficient(2), quadraticValues.getPolynomial().getCoefficient(2));
EXPECT_NEAR(6.0, quadraticValues.getDerivative().getCoefficient(0), epsilon);
EXPECT_NEAR(4.0, quadraticValues.getDerivative().getCoefficient(1), epsilon);
EXPECT_EQ(1, quadraticValues.getLocationsOfExtrema().getNumRoots());
EXPECT_NEAR(-1.5, quadraticValues.getLocationsOfExtrema()[0], epsilon);
EXPECT_TRUE(Interval<double>(-12.0, 252.0).isApprox(quadraticValues.valuesOverInterval(interval1), epsilon));
EXPECT_TRUE(Interval<double>(-12.5, 252.0).isApprox(quadraticValues.valuesOverInterval(interval2), epsilon));
};
TEST(PolynomialValuesTest, PolnomialDegree3Values)
{
SurgSim::Math::Polynomial<double, 3> cubicPoly(7.0, -63.0, -6.0, 1.0);
SurgSim::Math::Interval<double> interval1(-10.0, 20.0);
SurgSim::Math::Interval<double> interval2(-4.0, 10.0);
PolynomialValues<double, 3> cubicValues(cubicPoly);
EXPECT_DOUBLE_EQ(cubicPoly.getCoefficient(0), cubicValues.getPolynomial().getCoefficient(0));
EXPECT_DOUBLE_EQ(cubicPoly.getCoefficient(1), cubicValues.getPolynomial().getCoefficient(1));
EXPECT_DOUBLE_EQ(cubicPoly.getCoefficient(2), cubicValues.getPolynomial().getCoefficient(2));
EXPECT_DOUBLE_EQ(cubicPoly.getCoefficient(3), cubicValues.getPolynomial().getCoefficient(3));
EXPECT_NEAR(-63.0, cubicValues.getDerivative().getCoefficient(0), epsilon);
EXPECT_NEAR(-12.0, cubicValues.getDerivative().getCoefficient(1), epsilon);
EXPECT_NEAR(3.0, cubicValues.getDerivative().getCoefficient(2), epsilon);
EXPECT_EQ(2, cubicValues.getLocationsOfExtrema().getNumRoots());
EXPECT_NEAR(-3.0, cubicValues.getLocationsOfExtrema()[0], epsilon);
EXPECT_NEAR(7.0, cubicValues.getLocationsOfExtrema()[1], epsilon);
EXPECT_TRUE(Interval<double>(-963.0, 4347.0).isApprox(cubicValues.valuesOverInterval(interval1), epsilon));
EXPECT_TRUE(Interval<double>(-385.0, 115.0).isApprox(cubicValues.valuesOverInterval(interval2), epsilon));
};
