inline void linearizeDynamics(const Matrix<X_DIM>& xBar, const Matrix<U_DIM>& uBar, Matrix<X_DIM>& c, Matrix<X_DIM, X_DIM>& A, Matrix<X_DIM, U_DIM>& B, SymmetricMatrix<X_DIM>& M, unsigned int flag)
{
if (flag & COMPUTE_c) c = f(xBar, uBar);
if (flag & COMPUTE_A) A = dfdx(f, xBar, uBar);
if (flag & COMPUTE_B) B = dfdu(f, xBar, uBar);
if (flag & COMPUTE_M) M = varM(xBar, uBar);
}
TEST_F(UnifiedVarRenamerTests,
WhenUseDebugNamesIsFalseDoNotUseDebugNames) {
// Set-up the module.
//
// int g; // from debug info
// int h;
//
// void test(int p, int m) { // p has name from debug info
// int a;
// int b; // from debug info
// }
//
ShPtr<Variable> varG(Variable::create("g", IntType::create(32)));
module->addGlobalVar(varG);
module->addDebugNameForVar(varG, varG->getName());
ShPtr<Variable> varH(Variable::create("h", IntType::create(32)));
module->addGlobalVar(varH);
ShPtr<Variable> varP(Variable::create("p", IntType::create(32)));
testFunc->addParam(varP);
module->addDebugNameForVar(varP, varP->getName());
ShPtr<Variable> varM(Variable::create("m", IntType::create(32)));
testFunc->addParam(varM);
ShPtr<Variable> varA(Variable::create("a", IntType::create(32)));
testFunc->addLocalVar(varA);
ShPtr<Variable> varB(Variable::create("b", IntType::create(32)));
testFunc->addLocalVar(varB);
module->addDebugNameForVar(varB, varB->getName());
ShPtr<VarDefStmt> varDefB(VarDefStmt::create(varB));
ShPtr<VarDefStmt> varDefA(VarDefStmt::create(varA, ShPtr<Expression>(), varDefB));
testFunc->setBody(varDefA);
// Setup the renamer (do not use debug names).
INSTANTIATE_VAR_NAME_GEN_AND_VAR_RENAMER(UnifiedVarRenamer, false);
// Do the renaming.
varRenamer->renameVars(module);
// We expect the following output:
//
// int g1;
// int g2;
//
// void test(int a1, int a2) {
// int v1;
// int v2;
// }
//
// Globals:
VarSet globalVarsSet(module->getGlobalVars());
ASSERT_EQ(2, globalVarsSet.size());
// We have to sort the variables to ease the checking.
VarVector globalVarsVector(globalVarsSet.begin(), globalVarsSet.end());
sortByName(globalVarsVector);
ShPtr<Variable> var1(globalVarsVector[0]);
EXPECT_EQ("g1", var1->getName());
ShPtr<Variable> var2(globalVarsVector[1]);
EXPECT_EQ("g2", var2->getName());
// Parameters:
VarVector params(testFunc->getParams());
ASSERT_EQ(2, params.size());
ShPtr<Variable> par1(params.front());
EXPECT_EQ("a1", par1->getName());
ShPtr<Variable> par2(params.back());
EXPECT_EQ("a2", par2->getName());
// Locals:
EXPECT_EQ("v1", varDefA->getVar()->getName());
EXPECT_EQ("v2", varDefB->getVar()->getName());
}
