forked from pz4kybsvg/Conception
You can not select more than 25 topics
Topics must start with a letter or number, can include dashes ('-') and can be up to 35 characters long.
37 lines
802 B
37 lines
802 B
2 years ago
|
#include "drake/common/extract_double.h"
|
||
|
|
|
||
|
|
#include <stdexcept>
|
||
|
|
|
||
|
|
#include <Eigen/Dense>
|
||
|
|
#include <gtest/gtest.h>
|
||
|
|
|
||
|
|
#include "drake/common/test_utilities/eigen_matrix_compare.h"
|
||
|
|
|
||
|
|
namespace drake {
|
||
|
|
namespace {
|
||
|
|
|
||
|
|
GTEST_TEST(ExtractDoubleTest, BasicTest) {
|
||
|
|
// A double works.
|
||
|
|
double x = 1.0;
|
||
|
|
EXPECT_EQ(ExtractDoubleOrThrow(x), 1.0);
|
||
|
|
|
||
|
|
// A const double works.
|
||
|
|
const double y = 2.0;
|
||
|
|
EXPECT_EQ(ExtractDoubleOrThrow(y), 2.0);
|
||
|
|
}
|
||
|
|
|
||
|
|
GTEST_TEST(ExtractDoubleTest, MatrixTest) {
|
||
|
|
// Fixed size matrices work.
|
||
|
|
Eigen::Matrix2d x;
|
||
|
|
x << 1.0, 2.0, 3.0, 4.0;
|
||
|
|
EXPECT_TRUE(CompareMatrices(ExtractDoubleOrThrow(x), x));
|
||
|
|
|
||
|
|
// Dynamically-sized matrices work.
|
||
|
|
Eigen::MatrixXd y(1, 5);
|
||
|
|
y << 1, 2, 3, 4, 5;
|
||
|
|
EXPECT_TRUE(CompareMatrices(ExtractDoubleOrThrow(y), y));
|
||
|
|
}
|
||
|
|
|
||
|
|
} // namespace
|
||
|
|
} // namespace drake
|