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80 lines
2.5 KiB
80 lines
2.5 KiB
4 years ago
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/*
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* This file is part of qpOASES.
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*
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* qpOASES -- An Implementation of the Online Active Set Strategy.
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* Copyright (C) 2007-2015 by Hans Joachim Ferreau, Andreas Potschka,
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* Christian Kirches et al. All rights reserved.
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*
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* qpOASES is free software; you can redistribute it and/or
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* modify it under the terms of the GNU Lesser General Public
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* License as published by the Free Software Foundation; either
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* version 2.1 of the License, or (at your option) any later version.
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*
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* qpOASES is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.
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* See the GNU Lesser General Public License for more details.
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*
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* You should have received a copy of the GNU Lesser General Public
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* License along with qpOASES; if not, write to the Free Software
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* Foundation, Inc., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301 USA
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*
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*/
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/**
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* \file include/qpOASES_e/UnitTesting.h
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* \author Hans Joachim Ferreau
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* \version 3.1embedded
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* \date 2014-2015
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*
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* Definition of auxiliary functions/macros for unit testing.
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*/
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#ifndef QPOASES_UNIT_TESTING_H
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#define QPOASES_UNIT_TESTING_H
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#ifndef TEST_TOL_FACTOR
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#define TEST_TOL_FACTOR 1
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#endif
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/** Return value for tests that passed. */
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#define TEST_PASSED 0
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/** Return value for tests that failed. */
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#define TEST_FAILED 1
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/** Return value for tests that could not run due to missing external data. */
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#define TEST_DATA_NOT_FOUND 99
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/** Macro verifying that two numerical values are equal in order to pass unit test. */
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#define QPOASES_TEST_FOR_EQUAL( x,y ) if ( REFER_NAMESPACE_QPOASES isEqual( (x),(y) ) == BT_FALSE ) { return TEST_FAILED; }
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/** Macro verifying that two numerical values are close to each other in order to pass unit test. */
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#define QPOASES_TEST_FOR_NEAR( x,y ) if ( REFER_NAMESPACE_QPOASES getAbs((x)-(y)) / REFER_NAMESPACE_QPOASES getMax( 1.0,REFER_NAMESPACE_QPOASES getAbs(x) ) >= 1e-10 ) { return TEST_FAILED; }
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/** Macro verifying that first quantity is lower or equal than second one in order to pass unit test. */
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#define QPOASES_TEST_FOR_TOL( x,tol ) if ( (x) > (tol)*(TEST_TOL_FACTOR) ) { return TEST_FAILED; }
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/** Macro verifying that a logical expression holds in order to pass unit test. */
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#define QPOASES_TEST_FOR_TRUE( x ) if ( (x) == 0 ) { return TEST_FAILED; }
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BEGIN_NAMESPACE_QPOASES
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END_NAMESPACE_QPOASES
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#endif /* QPOASES_UNIT_TESTING_H */
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/*
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* end of file
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*/
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