1  #include "tp_debug.h"
 2  #include "greatest.h"
 3  #include "blendmath.h"
 4  #include "tp_types.h"
 5  #include "math.h"
 6  #include "rtapi.h"
 7  
 8  /* Expand to all the definitions that need to be in
 9     the test runner's main file. */
10  GREATEST_MAIN_DEFS();
11  
12  // KLUDGE fix link error the ugly way
13  void rtapi_print_msg(msg_level_t level, const char *fmt, ...)
14  {
15      va_list args;
16  
17      va_start(args, fmt);
18      printf(fmt, args);
19      va_end(args);
20  }
21  
22  TEST pmCartCartParallel_numerical() {
23  
24      PmCartesian u0 = {1,0,0};
25      PmCartesian u_close = {cos(TP_ANGLE_EPSILON), sin(TP_ANGLE_EPSILON), 0};
26  
27      ASSERT(pmCartCartParallel(&u0, &u0, TP_ANGLE_EPSILON_SQ));
28      ASSERT_FALSE(pmCartCartParallel(&u0, &u_close, 0.0));
29  
30      // Test that the tolerance makes sense
31      ASSERT_FALSE(pmCartCartParallel(&u0, &u_close, 0.5*TP_ANGLE_EPSILON_SQ));
32      ASSERT(pmCartCartParallel(&u0, &u_close, 1.5*TP_ANGLE_EPSILON_SQ));
33  
34      // Try a bunch of other angles including anti-parallel
35      for (double k=1; k <= 7; ++k) {
36          PmCartesian u_far = {cos(PM_PI_4 * k), sin(PM_PI_4 * k), 0};
37          ASSERT_FALSE(pmCartCartParallel(&u0, &u_far, TP_ANGLE_EPSILON_SQ));
38      }
39  
40      PASS();
41  }
42  
43  TEST pmCartCartAntiParallel_numerical() {
44  
45      PmCartesian u0 = {1,0,0};
46      PmCartesian u_close = {-cos(TP_ANGLE_EPSILON), sin(TP_ANGLE_EPSILON), 0};
47  
48      PmCartesian u_opposite;
49      pmCartScalMult(&u0, -1.0, &u_opposite);
50      ASSERT(pmCartCartAntiParallel(&u0, &u_opposite, TP_ANGLE_EPSILON_SQ));
51      ASSERT_FALSE(pmCartCartAntiParallel(&u0, &u_close, 0.0));
52  
53      // Test that the tolerance makes sense
54      ASSERT_FALSE(pmCartCartAntiParallel(&u0, &u_close, 0.5*TP_ANGLE_EPSILON_SQ));
55      ASSERT(pmCartCartAntiParallel(&u0, &u_close, 1.5*TP_ANGLE_EPSILON_SQ));
56  
57      // Try a bunch of other angles including anti-parallel
58      for (double k=1; k <= 7; ++k) {
59          PmCartesian u_far = {-cos(PM_PI_4 * k), sin(PM_PI_4 * k), 0};
60          ASSERT_FALSE(pmCartCartAntiParallel(&u0, &u_far, TP_ANGLE_EPSILON_SQ));
61      }
62  
63      PASS();
64  }
65  
66  
67   SUITE(blendmath) {
68       RUN_TEST(pmCartCartParallel_numerical);
69       RUN_TEST(pmCartCartAntiParallel_numerical);
70  
71   }
72  
73  int main(int argc, char **argv) {
74      GREATEST_MAIN_BEGIN();      /* command-line arguments, initialization. */
75      RUN_SUITE(blendmath);   /* run a suite */
76      GREATEST_MAIN_END();        /* display results */
77   }