symbolic_test_util.h File Reference

Detailed Description

This file provides a set of predicates which can be used with GTEST's ASSERT/EXPECT_PRED{n} macros.

The motivation is to provide better diagnostic information when the assertions fail. Please consider a scenario where a user wants to assert that two symbolic expressions, e1 and e2, are structurally identical.

// The following does not work because `operator==(const Expression& e1,
// const Expression& e2)` does not return a Boolean value. We need to use
// Expression::EqualTo() method instead.
ASSERT_EQ(e1, e2);

// The following compiles, but it does not provide enough information when
// the assertion fails. It merely reports that `e1.EqualTo(e2)` is evaluated
// to `false`, not to `true`.
ASSERT_TRUE(e1.EqualTo(e2));

// When the following assertion fails, it reports the value of `e1` and `e2`
// which should help debugging.
ASSERT_PRED2(ExprEqual, e1, e2);

#include <algorithm>
#include <tuple>
#include <vector>
#include <gtest/gtest.h>
#include "drake/common/symbolic/expression.h"
#include "drake/common/symbolic/generic_polynomial.h"
#include "drake/common/symbolic/polynomial.h"
#include "drake/common/symbolic/rational_function.h"

Include dependency graph for symbolic_test_util.h:

Namespaces
	drake
	drake::symbolic
	drake::symbolic::test

Functions
bool	VarEqual (const Variable &v1, const Variable &v2)
bool	TupleVarEqual (const std::tuple< Variable, Variable > &vars)
bool	VarNotEqual (const Variable &v1, const Variable &v2)
bool	VarLess (const Variable &v1, const Variable &v2)
bool	VarNotLess (const Variable &v1, const Variable &v2)
bool	ExprEqual (const Expression &e1, const Expression &e2)
bool	ExprNotEqual (const Expression &e1, const Expression &e2)
bool	ExprLess (const Expression &e1, const Expression &e2)
bool	ExprNotLess (const Expression &e1, const Expression &e2)
template<typename BasisElement >
bool	GenericPolyEqual (const GenericPolynomial< BasisElement > &p1, const GenericPolynomial< BasisElement > &p2)
template<typename BasisElement >
bool	GenericPolyNotEqual (const GenericPolynomial< BasisElement > &p1, const GenericPolynomial< BasisElement > &p2)
template<typename BasisElement >
bool	GenericPolyEqualAfterExpansion (const GenericPolynomial< BasisElement > &p1, const GenericPolynomial< BasisElement > &p2)
template<typename BasisElement >
bool	GenericPolyNotEqualAfterExpansion (const GenericPolynomial< BasisElement > &p1, const GenericPolynomial< BasisElement > &p2)
template<typename BasisElement >
bool	GenericPolyAlmostEqual (const GenericPolynomial< BasisElement > &p1, const GenericPolynomial< BasisElement > &p2, double tol)
bool	PolyEqual (const Polynomial &p1, const Polynomial &p2)
bool	PolyNotEqual (const Polynomial &p1, const Polynomial &p2)
bool	PolyEqualAfterExpansion (const Polynomial &p1, const Polynomial &p2)
bool	PolyNotEqualAfterExpansion (const Polynomial &p1, const Polynomial &p2)
bool	RationalFunctionEqual (const RationalFunction &f1, const RationalFunction &f2)
bool	RationalFunctionNotEqual (const RationalFunction &f1, const RationalFunction &f2)
template<typename F >
bool	all_of (const std::vector< Formula > &formulas, const F &f)
template<typename F >
bool	any_of (const std::vector< Formula > &formulas, const F &f)
bool	FormulaEqual (const Formula &f1, const Formula &f2)
bool	FormulaNotEqual (const Formula &f1, const Formula &f2)
bool	FormulaLess (const Formula &f1, const Formula &f2)
bool	FormulaNotLess (const Formula &f1, const Formula &f2)
::testing::AssertionResult	PolynomialEqual (const symbolic::Polynomial &p1, const symbolic::Polynomial &p2, double tol)
	Compare if two polynomials p1 and p2 are the same, by checking if all the coefficients in their difference p1 - p2 is no larger than tol. More...