ETL/test/angle.cpp

   1 /*! ========================================================================
   2 ** Extended Template and Library Test Suite
   3 ** Angle Class Test
   4 ** $Id$
   5 **
   6 ** Copyright (c) 2002 Robert B. Quattlebaum Jr.
   7 ** Copyright (c) 2008 Chris Moore
   8 **
   9 ** This package is free software; you can redistribute it and/or
  10 ** modify it under the terms of the GNU General Public License as
  11 ** published by the Free Software Foundation; either version 2 of
  12 ** the License, or (at your option) any later version.
  13 **
  14 ** This package is distributed in the hope that it will be useful,
  15 ** but WITHOUT ANY WARRANTY; without even the implied warranty of
  16 ** MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU
  17 ** General Public License for more details.
  18 **
  19 ** === N O T E S ===========================================================
  20 **
  21 ** ========================================================================= */
  22
  23 /* === H E A D E R S ======================================================= */
  24
  25 #include <stdio.h>
  26 #include <ETL/angle>
  27 #include <ETL/fastangle>
  28 #include <ETL/clock>
  29 #include <ETL/bezier>
  30 #include <ETL/hermite>
  31
  32 /* === M A C R O S ========================================================= */
  33
  34 ETL_FASTANGLE_INIT();
  35
  36 using namespace std;
  37 using namespace etl;
  38
  39 /* === C L A S S E S ======================================================= */
  40
  41 int fastangle_test(void)
  42 {
  43         int ret=0;
  44         float largest_error;
  45
  46         {
  47                 angle theta;
  48                 fastangle theta2;
  49                 float error;
  50                 largest_error=0.0f;
  51
  52                 for(
  53                         theta=angle::degrees(0),theta2=fastangle::degrees(0);
  54                         theta<=angle::degrees(360);
  55                         theta+=angle::degrees(10),theta2+=fastangle::degrees(10)
  56                 )
  57                 {
  58                         error=(float)angle::sin(theta).get() -(float)fastangle::sin(theta2).get();
  59                         /*
  60                         fprintf(stderr,"angle: sin(%d)=%f ;\tfastangle: sin(%d)=%f ;\t diff: %f\n",
  61                                 (int)angle::degrees(theta),
  62                                 (float)angle::sin(theta),
  63                                 (int)fastangle::degrees(theta2),
  64                                 (float)fastangle::sin(theta2),
  65                                 error
  66                                 );
  67                         */
  68                         if(error > largest_error)
  69                                 largest_error=error;
  70                         if(error < -largest_error)
  71                                 largest_error=-error;
  72
  73                 }
  74         }
  75         printf("fastangle: Largest SIN error: (+/-)%f\n",largest_error);
  76         if(largest_error>0.075)ret++;
  77
  78         {
  79                 angle theta;
  80                 fastangle theta2;
  81                 float error;
  82                 largest_error=0.0f;
  83
  84                 for(
  85                         theta=angle::degrees(0),theta2=fastangle::degrees(0);
  86                         theta<=angle::degrees(360);
  87                         theta+=angle::degrees(10),theta2+=fastangle::degrees(10)
  88                 )
  89                 {
  90                         error=(float)angle::cos(theta).get() -(float)fastangle::cos(theta2).get();
  91                         /*
  92                         fprintf(stderr,"angle: cos(%d)=%f ;\tfastangle: cos(%d)=%f ;\t diff: %f\n",
  93                                 (int)angle::degrees(theta),
  94                                 (float)angle::cos(theta),
  95                                 (int)fastangle::degrees(theta2),
  96                                 (float)fastangle::cos(theta2),
  97                                 error
  98                                 );
  99                         */
 100                         if(error > largest_error)
 101                                 largest_error=error;
 102                         if(error < -largest_error)
 103                                 largest_error=-error;
 104
 105                 }
 106         }
 107         printf("fastangle: Largest COS error: (+/-)%f\n",largest_error);
 108         if(largest_error>0.075)ret++;
 109
 110         {
 111                 double val;
 112                 float error;
 113                 largest_error=0.0f;
 114
 115                 for(
 116                         val=-1.0f;
 117                         val<1.0f;
 118                         val+=0.01
 119                 )
 120                 {
 121                         error=angle::radians(angle::sin(val)).get() -fastangle::radians(fastangle::sin(val)).get();
 122                         /*
 123                         fprintf(stderr,"angle: asin(%f)=%frad ;\tfastangle: asin(%f)=%frad ;\t diff: %f\n",
 124                                 val,
 125                                 (float)(angle::radians)angle::sin(val),
 126                                 val,
 127                                 (float)(fastangle::radians)fastangle::sin(val),
 128                                 error
 129                                 );
 130                         */
 131                         if(error > largest_error)
 132                                 largest_error=error;
 133                         if(error < -largest_error)
 134                                 largest_error=-error;
 135
 136                 }
 137         }
 138         printf("fastangle: Largest ASIN error: (+/-)%frad\n",largest_error);
 139         if(largest_error>0.075)ret++;
 140
 141
 142         {
 143                 double val;
 144                 float error;
 145                 largest_error=0.0f;
 146
 147                 for(
 148                         val=-1.0f;
 149                         val<1.0f;
 150                         val+=0.01
 151                 )
 152                 {
 153                         error=angle::radians(angle::cos(val)).get() -fastangle::radians(fastangle::cos(val)).get();
 154                         /*
 155                         fprintf(stderr,"angle: acos(%f)=%frad ;\tfastangle: acos(%f)=%frad ;\t diff: %f\n",
 156                                 val,
 157                                 (float)(angle::radians)angle::cos(val),
 158                                 val,
 159                                 (float)(fastangle::radians)fastangle::cos(val),
 160                                 error
 161                                 );
 162                         */
 163                         if(error > largest_error)
 164                                 largest_error=error;
 165                         if(error < -largest_error)
 166                                 largest_error=-error;
 167
 168                 }
 169         }
 170         printf("fastangle: Largest ACOS error: (+/-)%frad\n",largest_error);
 171         if(largest_error>0.075)ret++;
 172
 173
 174         {
 175                 angle theta;
 176                 fastangle theta2;
 177                 float error;
 178                 largest_error=0.0f;
 179
 180                 for(
 181                         theta=angle::degrees(0),theta2=fastangle::degrees(0);
 182                         theta<angle::degrees(360);
 183                         theta+=angle::degrees(38),theta2+=fastangle::degrees(38)
 184                 )
 185                 {
 186                         error=angle::tan(theta).get() - fastangle::tan(theta2).get();
 187                         /*
 188                         fprintf(stderr,"angle: tan(%d)=%f ;\tfastangle: tan(%d)=%f ;\t diff: %f\n",
 189                                 (int)angle::degrees(theta),
 190                                 (float)angle::tan(theta),
 191                                 (int)fastangle::degrees(theta2),
 192                                 (float)fastangle::tan(theta2),
 193                                 error
 194                                 );
 195                         */
 196                         if(error > largest_error)
 197                                 largest_error=error;
 198                         if(error < -largest_error)
 199                                 largest_error=-error;
 200
 201                 }
 202         }
 203         printf("fastangle: Largest TAN error: (+/-)%f\n",largest_error);
 204         if(largest_error>0.75)ret++;
 205
 206         {
 207                 double val;
 208                 float error;
 209                 largest_error=0.0f;
 210
 211                 for(
 212                         val=-4.0f;
 213                         val<4.0f;
 214                         val+=0.1
 215                 )
 216                 {
 217                         error=angle::radians(angle::tan(val)).get() -fastangle::radians(fastangle::tan(val)).get();
 218                         /*
 219                         fprintf(stderr,"angle: atan(%f)=%frad ;\tfastangle: atan(%f)=%frad ;\t diff: %f\n",
 220                                 val,
 221                                 (float)(angle::radians)angle::tan(val),
 222                                 val,
 223                                 (float)(fastangle::radians)fastangle::tan(val),
 224                                 error
 225                                 );
 226                         */
 227                         if(error > largest_error)
 228                                 largest_error=error;
 229                         if(error < -largest_error)
 230                                 largest_error=-error;
 231
 232                 }
 233         }
 234         printf("fastangle: Largest ATAN error: (+/-)%frad\n",largest_error);
 235         if(largest_error>0.075)ret++;
 236
 237
 238         {
 239                 angle theta;
 240                 float error;
 241                 largest_error=0.0f;
 242
 243                 for(
 244                         theta=angle::degrees(-179);
 245                         theta<angle::degrees(180);
 246                         theta+=angle::degrees(5)
 247                 )
 248                 {
 249                         error=angle::radians(theta).get()-fastangle::radians(fastangle::tan(angle::sin(theta).get(),angle::cos(theta).get())).get();
 250                         /*
 251                         fprintf(stderr,"\tfastangle: atan2(%f, %f)=%fdeg (%f) ;\t diff: %frad\n",
 252                                 (float)angle::sin(theta),
 253                                 (float)angle::cos(theta),
 254                                 (float)(fastangle::degrees)fastangle::tan(angle::sin(theta),angle::cos(theta)),
 255                                 (float)(fastangle::degrees)fastangle::tan((float)angle::sin(theta)/(float)angle::cos(theta)),
 256                                 error
 257                                 );
 258                         */
 259                         if(error > largest_error)
 260                                 largest_error=error;
 261                         if(error < -largest_error)
 262                                 largest_error=-error;
 263
 264                 }
 265         }
 266         printf("fastangle: Largest ATAN2 error: (+/-)%frad\n",largest_error);
 267         if(largest_error>0.075)ret++;
 268
 269         printf("constant tests: %f==%f\n",
 270                 (float)angle::degrees(angle::tan(1.01)).get(),
 271                 (float)fastangle::degrees(fastangle::tan(1.01)).get());
 272         printf("constant tests: %f==%f\n",
 273                 (float)angle::degrees(angle::tan(-1.0)).get(),
 274                 (float)fastangle::degrees(fastangle::tan(-1.0)).get());
 275
 276         return ret;
 277 }
 278
 279 template <class Angle>
 280 void angle_cos_speed_test(void)
 281 {
 282         Angle a,b,c,d;
 283         float tmp,tmp2;
 284
 285         for(tmp=-1.0;tmp<1.0;tmp+=0.000002)
 286         {
 287                 a=(typename Angle::cos)(tmp);
 288                 b=(typename Angle::cos)(tmp);
 289                 c=(typename Angle::cos)(tmp);
 290                 d=(typename Angle::cos)(tmp);
 291                 tmp2=((typename Angle::cos)(a)).get();
 292                 tmp2=((typename Angle::cos)(b)).get();
 293                 tmp2=((typename Angle::cos)(c)).get();
 294                 tmp2=((typename Angle::cos)(d)).get();
 295         }
 296 }
 297 template <class Angle>
 298 void angle_sin_speed_test(void)
 299 {
 300         Angle a,b,c,d;
 301         float tmp,tmp2;
 302
 303         for(tmp=-1.0;tmp<1.0;tmp+=0.000002)
 304         {
 305                 a=(typename Angle::sin)(tmp);
 306                 b=(typename Angle::sin)(tmp);
 307                 c=(typename Angle::sin)(tmp);
 308                 d=(typename Angle::sin)(tmp);
 309                 tmp2=((typename Angle::sin)(a)).get();
 310                 tmp2=((typename Angle::sin)(b)).get();
 311                 tmp2=((typename Angle::sin)(c)).get();
 312                 tmp2=((typename Angle::sin)(d)).get();
 313         }
 314 }
 315 template <class Angle>
 316 void angle_tan_speed_test(void)
 317 {
 318         Angle a,b,c,d;
 319         float tmp,tmp2;
 320
 321         for(tmp=-1.0;tmp<1.0;tmp+=0.000002)
 322         {
 323                 a=(typename Angle::tan)(tmp);
 324                 b=(typename Angle::tan)(tmp);
 325                 c=(typename Angle::tan)(tmp);
 326                 d=(typename Angle::tan)(tmp);
 327                 tmp2=((typename Angle::tan)(a)).get();
 328                 tmp2=((typename Angle::tan)(b)).get();
 329                 tmp2=((typename Angle::tan)(c)).get();
 330                 tmp2=((typename Angle::tan)(d)).get();
 331         }
 332 }
 333 template <class Angle, class mytan>
 334 void angle_atan2_speed_test(void)
 335 {
 336         Angle a,b,c;
 337         float x,y;
 338
 339         for(y=-10.0;y<10.0;y+=0.05)
 340                 for(x=-10.0;x<10.0;x+=0.05)
 341                 {
 342                         a=mytan(y,x);
 343                         a=mytan(x,y);
 344                         b=mytan(y,x);
 345                         b=mytan(x,y);
 346                         c=mytan(y,x);
 347                         c=mytan(x,y);
 348                         a=mytan(y,x);
 349                         a=mytan(x,y);
 350                         b=mytan(y,x);
 351                         b=mytan(x,y);
 352                         c=mytan(y,x);
 353                         c=mytan(x,y);
 354                 }
 355 }
 356
 357 int fastangle_speed_test(void)
 358 {
 359         int ret=0;
 360         float
 361                 angle_cos_time,
 362                 fastangle_cos_time,
 363                 angle_tan_time,
 364                 fastangle_tan_time,
 365                 angle_atan2_time,
 366                 fastangle_atan2_time,
 367                 angle_sin_time,
 368                 fastangle_sin_time ;
 369
 370         etl::clock MyTimer;
 371
 372         MyTimer.reset();
 373         angle_cos_speed_test<angle>();
 374         angle_cos_time=MyTimer();
 375         printf("angle: Cosine test: %f seconds\n",angle_cos_time);
 376
 377         MyTimer.reset();
 378         angle_cos_speed_test<fastangle>();
 379         fastangle_cos_time=MyTimer();
 380         printf("fastangle: Cosine test: %f seconds\n",fastangle_cos_time);
 381         printf("fastangle is %.02f%% faster\n",(angle_cos_time/fastangle_cos_time)*100.0-100.0);
 382
 383         MyTimer.reset();
 384         angle_sin_speed_test<angle>();
 385         angle_sin_time=MyTimer();
 386         printf("angle: Sine test: %f seconds\n",angle_sin_time);
 387
 388         MyTimer.reset();
 389         angle_sin_speed_test<fastangle>();
 390         fastangle_sin_time=MyTimer();
 391         printf("fastangle: Sine test: %f seconds\n",fastangle_sin_time);
 392         printf("fastangle is %.02f%% faster\n",(angle_sin_time/fastangle_sin_time)*100.0-100.0);
 393
 394         MyTimer.reset();
 395         angle_tan_speed_test<angle>();
 396         angle_tan_time=MyTimer();
 397         printf("angle: Tangent test: %f seconds\n",angle_tan_time);
 398
 399         MyTimer.reset();
 400         angle_tan_speed_test<fastangle>();
 401         fastangle_tan_time=MyTimer();
 402         printf("fastangle: Tangent test: %f seconds\n",fastangle_tan_time);
 403         printf("fastangle is %.02f%% faster\n",(angle_tan_time/fastangle_tan_time)*100.0-100.0);
 404
 405         MyTimer.reset();
 406         angle_atan2_speed_test<angle,angle::tan>();
 407         angle_atan2_time=MyTimer();
 408         printf("angle: arcTangent2 test: %f seconds\n",angle_atan2_time);
 409
 410         MyTimer.reset();
 411         angle_atan2_speed_test<fastangle,fastangle::tan>();
 412         fastangle_atan2_time=MyTimer();
 413         printf("fastangle: arcTangent2 test: %f seconds\n",fastangle_atan2_time);
 414         printf("fastangle is %.02f%% faster\n",(angle_atan2_time/fastangle_atan2_time)*100.0-100.0);
 415
 416         return ret;
 417 }
 418
 419 int angle_test()
 420 {
 421         int ret=0;
 422         float dist;
 423
 424         dist=angle::deg(angle::deg(330).dist(angle::deg(30))).get();
 425         printf("angle: angular difference between 330deg and 30deg is %0.1fdeg\n",dist);
 426         if(floor(dist+0.5)!=300)
 427         {
 428                 printf("angle: error: should be 300deg!\n");
 429                 ret++;
 430         }
 431
 432         dist=angle::deg(angle::deg(30).dist(angle::deg(330))).get();
 433         printf("angle: angular difference between 30deg and 330deg is %0.1fdeg\n",dist);
 434         if(floor(dist+0.5)!=-300)
 435         {
 436                 printf("angle: error: should be -300deg!\n");
 437                 ret++;
 438         }
 439
 440         dist=angle::deg(angle::deg(30).dist(angle::deg(-30))).get();
 441         printf("angle: angular difference between 30deg and -30deg is %0.1fdeg\n",dist);
 442         if(floor(dist+0.5)!=60)
 443         {
 444                 printf("angle: error: should be 60deg!\n");
 445                 ret++;
 446         }
 447
 448         dist=angle::deg(angle::deg(-30).dist(angle::deg(30))).get();
 449         printf("angle: angular difference between -30deg and 30deg is %0.1fdeg\n",dist);
 450         if(floor(dist+0.5)!=-60)
 451         {
 452                 printf("angle: error: should be -60deg!\n");
 453                 ret++;
 454         }
 455
 456         dist=angle::deg(angle::deg(20).dist(angle::deg(195))).get();
 457         printf("angle: angular difference between 20deg and 195deg is %0.1fdeg\n",dist);
 458         if(floor(dist+0.5)!=-175)
 459         {
 460                 printf("angle: error: should be -175deg!\n");
 461                 ret++;
 462         }
 463
 464         dist=angle::deg(angle::deg(20).dist(angle::deg(205))).get();
 465         printf("angle: angular difference between 20deg and 205deg is %0.1fdeg\n",dist);
 466         if(floor(dist+0.5)!=-185)
 467         {
 468                 printf("angle: error: should be -185deg!\n");
 469                 ret++;
 470         }
 471
 472         int i;
 473
 474         for(i=-1000;i<1000;i++)
 475         {
 476                 dist=angle::deg(angle::deg(20+i+360).dist(angle::deg(205+i-360))).get();
 477                 if(floor(dist+0.5)!=535)
 478                 {
 479                         printf("angle: error: Badness at %d!\n",i);
 480                         ret++;
 481                 }
 482
 483         }
 484
 485         for(i=-1000;i<1000;i++)
 486         {
 487                 dist=angle::deg(angle::deg(20+i-360).dist(angle::deg(195+i+360))).get();
 488                 if(floor(dist+0.5)!=-895)
 489                 {
 490                         printf("angle: error: Badness at %d!\n",i);
 491                         ret++;
 492                 }
 493
 494         }
 495
 496
 497
 498         {
 499                 float f;
 500                 angle a(angle::deg(-2005));
 501                 angle b(angle::deg(200));
 502
 503                 affine_combo<angle> combo;
 504
 505                 hermite<angle> hermie(a,b,b.dist(a),b.dist(a));
 506
 507                 for(f=0;f<1.001;f+=0.1)
 508                 {
 509                         printf("@%f--affine_combo: %f hermie: %f\n",angle::deg(f).get(),angle::deg(combo(a,b,f)).get(),angle::deg(hermie(f)).get());
 510                 }
 511
 512         }
 513
 514         return ret;
 515 }
 516
 517 /* === E N T R Y P O I N T ================================================= */
 518
 519 int main()
 520 {
 521         int error=0;
 522
 523         error+=fastangle_test();
 524         error+=fastangle_speed_test();
 525         error+=angle_test();
 526
 527         return error;
 528 }