#include <ForceFieldTestCreation.h>

Helper for writing ForceField tests. The constructor creates a root node and adds it a State and a ForceField (of the parameter type of this template class). Pointers to node, state and force are available. Deriving the ForceField test from this class makes it easy to write: just call function run_test with positions, velocities and the corresponding expected forces. This function automatically checks not only the forces (function addForce), but also the stiffness (methods addDForce and addKToMatrix), using finite differences. More...

Inheritance diagram for sofa::ForceField_test< _ForceFieldType >:

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Detailed Description

template<typename _ForceFieldType>
struct sofa::ForceField_test< _ForceFieldType >

Helper for writing ForceField tests. The constructor creates a root node and adds it a State and a ForceField (of the parameter type of this template class). Pointers to node, state and force are available. Deriving the ForceField test from this class makes it easy to write: just call function run_test with positions, velocities and the corresponding expected forces. This function automatically checks not only the forces (function addForce), but also the stiffness (methods addDForce and addKToMatrix), using finite differences.

Author: François Faure, 2014

Public Attributes
Scene elements
{
DOF::SPtr	dof

ForceField::SPtr	force

simulation::Node::SPtr	node

Precision and control parameters
} {
SReal	errorMax
	tolerance in precision test. The actual value is this one times the epsilon of the Real numbers (typically float or double) More...

SReal	errorFactorPotentialEnergy
	The test for potential energy is successful if the (infinite norm of the) difference is less than errorFactorPotentialEnergy * errorMax *epsilon (default = 1) More...

std::pair< Real, Real >	deltaRange
	Minimum/Maximum amplitudes of the random perturbation used to check the stiffness using finite differences. More...

bool	checkStiffness
	If false, stops the test after checking the force, without checking the stiffness. Default value is true. More...

bool	debug

Public Attributes inherited from sofa::testing::BaseTest
sofa::testing::MessageAsTestFailure	m_fatal

sofa::testing::MessageAsTestFailure	m_error

Tested API
} {
unsigned char	flags

static const unsigned char	TEST_POTENTIAL_ENERGY = 1
	testing getPotentialEnergy function. The tests will only work with conservative forces (if dissipative forces such as viscosity or damping are computed, the test is wrong) More...

static const unsigned char	TEST_ALL = UCHAR_MAX
	testing everything More...

	ForceField_test ()
	} More...

	ForceField_test (std::string filename)

void	run_test (const VecCoord &x, const VecDeriv &v, const VecDeriv &ef, bool initScene=true)
	Given positions and velocities, checks that the expected forces are obtained, and that a small change of positions generates the corresponding change of forces. More...

Additional Inherited Members
Static Public Attributes inherited from sofa::testing::BaseTest
static int	seed = (unsigned int)time(nullptr)
	Seed value. More...

Public Member Functions inherited from sofa::testing::BaseSimulationTest
	BaseSimulationTest ()

bool	importPlugin (const std::string &name)=delete

Public Member Functions inherited from sofa::testing::BaseTest
	BaseTest ()
	Initialize Sofa and the random number generator. More...

	~BaseTest () override

virtual void	doSetUp ()

virtual void	doTearDown ()

virtual void	onSetUp ()

virtual void	onTearDown ()

void	loadPlugins (const std::initializer_list< std::string > &pluginNames)

Public Member Functions inherited from sofa::testing::NumericTest< _ForceFieldType::DataTypes::Real >
	NumericTest ()

Real	vectorMaxDiff (const Container1 &c1, const Container2 &c2)
	Return the maximum difference between two containers. Issues a failure if sizes are different. More...

Real	vectorMaxAbs (const Container &c)
	Return the maximum absolute value of a container. More...

Static Public Member Functions inherited from sofa::testing::NumericTest< _ForceFieldType::DataTypes::Real >
static Real	matrixMaxDiff (const Matrix1 &m1, const Matrix2 &m2)
	return the maximum difference between corresponding entries, or the infinity if the matrices have different sizes More...

static Real	matrixMaxDiff (const sofa::type::Mat< M, N, Real > &m1, const Matrix2 &m2)
	Return the maximum difference between corresponding entries, or the infinity if the matrices have different sizes. More...

static Real	epsilon ()
	the smallest real number More...

static Real	infinity ()
	Infinity. More...

static bool	isSmall (Real r, Real ratio=1.)
	true if the magnitude of r is less than ratio*epsilon More...

static Real	vectorMaxDiff (const sofa::type::Vec< N, Real > &m1, const Vector2 &m2)
	return the maximum difference between corresponding entries, or the infinity if the vectors have different sizes More...

static Real	vectorMaxDiff (const sofa::type::Vec< N, Real > &m1, const sofa::type::Vec< N, Real > &m2)
	return the maximum difference between corresponding entries More...

Static Protected Member Functions inherited from sofa::testing::NumericTest< _ForceFieldType::DataTypes::Real >
static float	norm (float a)

static double	norm (double a)

static Real	norm (T a)