void test_LinearCombination_creation() {
cout << "==== test_LinearCombination_creation()" << endl;
LinearCombination *lc = new LinearCombination();
for (int i = 0; i < LINEAR_COMBINATON_LENGTH; i++) {
ASSERT(lc->getPoint(i) == 0, "Point %d\n", i);
ASSERT_EQUALS(1, lc->getFactor(i), 1e-9, "Factor %d\n", i);
}
}
void test_SquareDomain_convexCombination_index() {
printf("==== test_SquareDomain_convexCombination_index() in %s:%d\n",
__FILE__, __LINE__);
SquareDomain *sq = new SquareDomain(-2, 2, 10);
State s[] = { 0.1, 0.9, -0.5, -1.0 };
LinearCombination *lc = sq->convexDecomposition(s);
for (int i = 0; i < LINEAR_COMBINATON_LENGTH; i++) {
State *corner = lc->getPoint(i);
if (corner != NULL) {
GridPointIndex *cornerIndex = sq->getGridIndex(corner);
for (int j = 0; j < STATE_SPACE_DIMENSION; j++) {
ASSERT_EQUALS(cornerIndex[j], lc->getIndex(i)[j], 1e-3,
"%d %d: %d %d\n",
i, j, cornerIndex[j], lc->getIndex(i)[j]);
}
}
}
delete lc;
delete sq;
}
void test_SquareDomainSquareHole_convexCombination() {
cout << "==== test_SquareDomainSquareHole_convexCombination()" << endl;
SquareDomainSquareHole *sq = new SquareDomainSquareHole(-1, 1, -0.5, 0.5,
4);
State p0[] = { 0.6, 0.0, 0.5, 0.0 };
LinearCombination *lc = sq->convexDecomposition(p0);
State *actual = lc->eval();
ASSERT(SquareDomain::equals(p0, actual, 1e-9), "p0\n");
// cout << "LinComb of P0: ";
// util_print_LinearCombination(lc);
// cout << "Actual of P0: ";
// util_print_State(actual);
delete[] actual;
delete lc;
State p1[] = { 0.1, 0.9, -0.5, -1.0 };
lc = sq->convexDecomposition(p1);
actual = lc->eval();
// cout << "LinComb of P1: ";
// util_print_LinearCombination(lc);
// cout << "Actual of P1: ";
// util_print_State(actual);
ASSERT(SquareDomain::equals(p1, actual, 1e-9), "p1\n");
delete[] actual;
delete lc;
State p2[] = { 1.0, 1.0, 1.0, 1.0 };
lc = sq->convexDecomposition(p2);
actual = lc->eval();
// cout << "LinComb of P2: ";
// util_print_LinearCombination(lc);
// cout << "Actual of P2: ";
// util_print_State(actual);
ASSERT(SquareDomain::equals(p2, actual, 1e-9), "p2\n");
delete[] actual;
delete lc;
State p3[] = { -1.0, -1.0, -1.0, -1.0 };
lc = sq->convexDecomposition(p3);
actual = lc->eval();
// cout << "LinComb of P3: ";
// util_print_LinearCombination(lc);
// cout << "Actual of P3: ";
// util_print_State(actual);
ASSERT(SquareDomain::equals(p3, actual, 1e-9), "p3\n");
delete[] actual;
delete lc;
State p4[] = { 0.5, 0.5, 0.5, 0.5 };
lc = sq->convexDecomposition(p4);
actual = lc->eval();
// cout << "LinComb of P4: ";
// util_print_LinearCombination(lc);
// cout << "Actual of P4: ";
// util_print_State(actual);
ASSERT(SquareDomainSquareHole::equals(p4, actual, 1e-9), "p4\n");
delete[] actual;
delete lc;
delete sq;
sq = new SquareDomainSquareHole(-2, 2, -0.5, 0.5, 16);
State p5[] = { -1.78, -1.84, -2, -1.46 };
lc = sq->convexDecomposition(p5);
actual = lc->eval();
// cout << "LinComb of P5: ";
// util_print_LinearCombination(lc);
// cout << "Actual of P5: ";
// util_print_State(actual);
for (int i = 0; i < lc->getSize(); i++) {
if (lc->getPoint(i) == NULL) {
ASSERT_NULL(lc->getIndex(i), "Index not null %d", i);
} else {
GridPointIndex *index = sq->getGridIndex(lc->getPoint(i));
for (int d = 0; d < STATE_SPACE_DIMENSION; d++) {
ASSERT_EQUALS(index[d], lc->getIndex(i)[d], 1e-9,
"Index number %d Component %d: %d <> %d",
i, d, index[d], lc->getIndex(i)[d]);
}
delete[] index;
}
}
ASSERT(SquareDomainSquareHole::equals(p5, actual, 1e-9), "p5\n");
delete[] actual;
delete lc;
delete sq;
}