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BugFix: Van der Corput - consider span for resolution check #552

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merged 4 commits into from
Oct 8, 2019
Merged

BugFix: Van der Corput - consider span for resolution check #552

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22d1f63
raise failing test and fix
aditya-vk Sep 13, 2019
73ef1d2
corrections + unit test
aditya-vk Oct 8, 2019
db233e6
update changelog
aditya-vk Oct 8, 2019
84d7856
Update CHANGELOG.md
aditya-vk Oct 8, 2019
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -9,6 +9,7 @@
* Cleaned up doxygen errors: [#357](https://github.com/personalrobotics/aikido/pull/357)
* Fixed bug in compiling with Boost 1.58 on Kinetic + Xenial: [#490](https://github.com/personalrobotics/aikido/pull/490)
* Fixed bug in Interpolated::addWaypoint(): [#483](https://github.com/personalrobotics/aikido/pull/483)
* Fixed bug in VanDerCorput sequence generator to handle non-unit span: [#552](https://github.com/personalrobotics/aikido/pull/552)

* Distance

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9 changes: 5 additions & 4 deletions src/common/VanDerCorput.cpp
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Expand Up @@ -45,12 +45,12 @@ pair<double, double> VanDerCorput::operator[](int n) const
if (n == 0)
{
val_res.first = 0.0;
val_res.second = mSpan;
val_res.second = 1.0;
}
else if (n == 1)
{
val_res.first = 1.0;
val_res.second = mSpan;
val_res.second = 1.0;
}
else
{
Expand All @@ -60,12 +60,12 @@ pair<double, double> VanDerCorput::operator[](int n) const
else if (mIncludeStartpoint && n == 0)
{
val_res.first = 0.0;
val_res.second = mSpan;
val_res.second = 1.0;
}
else if (mIncludeEndpoint && n == 0)
{
val_res.first = 1.0;
val_res.second = mSpan;
val_res.second = 1.0;
}
else
{
Expand All @@ -80,6 +80,7 @@ pair<double, double> VanDerCorput::operator[](int n) const
}

val_res.first *= mSpan;
val_res.second *= mSpan;
return val_res;
}

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34 changes: 34 additions & 0 deletions tests/common/test_VanDerCorput.cpp
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Expand Up @@ -216,3 +216,37 @@ TEST(VanDerCorput, IterationEndsWhenMinimumResolutionReached)
EXPECT_EQ(7, iterations);
EXPECT_EQ(7, vdc_0_125.getLength());
}

TEST(VanDerCorput, ScaleAndIterateProperlyOverSpanWithResolution)
{
// Check that with a non-unit span, iteration stops appropriately.
VanDerCorput vdc{2, false, false, 0.25};
int iterations = 0;
EXPECT_NO_THROW({
for (VanDerCorput::const_iterator itr = vdc.begin(); itr != vdc.end();
++itr)
{
++iterations;
}
});
EXPECT_EQ(7, iterations);
EXPECT_EQ(7, vdc.getLength());

// Check that with a non-unit span, the vdc values are correct.
EXPECT_DOUBLE_EQ(1.00, vdc[0].first);
EXPECT_DOUBLE_EQ(0.50, vdc[1].first);
EXPECT_DOUBLE_EQ(1.50, vdc[2].first);
EXPECT_DOUBLE_EQ(0.25, vdc[3].first);
EXPECT_DOUBLE_EQ(1.25, vdc[4].first);
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EXPECT_DOUBLE_EQ(0.75, vdc[5].first);
EXPECT_DOUBLE_EQ(1.75, vdc[6].first);

// Check that with a non-unit span, the resolution is computed correctly.
EXPECT_DOUBLE_EQ(1.00, vdc[0].second);
EXPECT_DOUBLE_EQ(1.00, vdc[1].second);
EXPECT_DOUBLE_EQ(0.50, vdc[2].second);
EXPECT_DOUBLE_EQ(0.50, vdc[3].second);
EXPECT_DOUBLE_EQ(0.50, vdc[4].second);
EXPECT_DOUBLE_EQ(0.50, vdc[5].second);
EXPECT_DOUBLE_EQ(0.25, vdc[6].second);
}