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45 lines
1.8 KiB
45 lines
1.8 KiB
/* clang-format off to disable clang-format-includes */
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#include "drake/common/autodiff.h"
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#include "drake/common/ad/test/standard_operations_test.h"
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/* clang-format on */
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#include "drake/common/test_utilities/eigen_matrix_compare.h"
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namespace drake {
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namespace test {
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namespace {
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TEST_F(AutoDiffXdTest, Min) {
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CHECK_BINARY_FUNCTION_ADS_ADS(min, x, y, 0.3);
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CHECK_BINARY_FUNCTION_ADS_ADS(min, x, y, -0.3);
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CHECK_BINARY_FUNCTION_ADS_ADS(min, y, x, 0.4);
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CHECK_BINARY_FUNCTION_ADS_ADS(min, y, x, -0.4);
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}
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TEST_F(AutoDiffXdTest, TieBreakingCheckMinBothNonEmpty) {
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// Given `min(v1, v2)`, our overload returns the first argument `v1` when
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// `v1 == v2` holds if both `v1` and `v2` have non-empty derivatives. In
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// Drake, we rely on this implementation-detail. This test checks if the
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// property holds so that we can detect a possible change in future.
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const AutoDiffXd v1{1.0, Vector1<double>(3.)};
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const AutoDiffXd v2{1.0, Vector1<double>(2.)};
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EXPECT_EQ(min(v1, v2).derivatives()[0], 3.0); // Returns v1, not v2.
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}
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TEST_F(AutoDiffXdTest, TieBreakingCheckMinOneNonEmpty) {
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// Given `min(v1, v2)`, our overload returns whichever argument has non-empty
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// derivatives in the case where only one has non-empty derivatives. In
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// Drake, we rely on this implementation-detail. This test checks if the
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// property holds so that we can detect a possible change in future.
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const AutoDiffXd v1{1.0};
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const AutoDiffXd v2{1.0, Vector1<double>(2.)};
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EXPECT_TRUE(CompareMatrices(min(v1, v2).derivatives(),
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Vector1<double>(2.))); // Returns v2, not v1.
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EXPECT_TRUE(CompareMatrices(min(v2, v1).derivatives(),
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Vector1<double>(2.))); // Returns v2, not v1.
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}
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} // namespace
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} // namespace test
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} // namespace drake
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