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2c55b92 | 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36 37 38 39 40 41 42 43 44 45 46 47 48 49 50 51 52 53 54 55 56 57 58 59 60 61 62 63 64 65 66 67 68 69 70 71 72 73 74 75 76 77 78 79 80 81 82 83 84 85 86 87 88 89 90 91 92 93 94 95 96 97 98 99 100 101 102 103 104 105 106 107 108 109 110 111 112 113 114 115 116 117 118 119 120 121 122 123 124 125 126 127 128 129 130 131 132 | // Copyright 2024 DeepMind Technologies Limited
//
// Licensed under the Apache License, Version 2.0 (the "License");
// you may not use this file except in compliance with the License.
// You may obtain a copy of the License at
//
// http://www.apache.org/licenses/LICENSE-2.0
//
// Unless required by applicable law or agreed to in writing, software
// distributed under the License is distributed on an "AS IS" BASIS,
// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
// See the License for the specific language governing permissions and
// limitations under the License.
#include "src/engine/engine_sort.h"
#include <algorithm>
#include <array>
#include <utility>
#include <vector>
#include <gtest/gtest.h>
#include "test/fixture.h"
namespace mujoco {
namespace {
using EngineSortTest = MujocoTest;
constexpr int kPermutationSize = 5; // 5! = 120 checks
constexpr int factorial() {
int n = 1;
for (int i = 1; i <= kPermutationSize; ++i) {
n *= i;
}
return n;
}
struct IntStruct {
int value;
};
// computes next permutation in lexicographical order in place
// returns false if there is no next permutation
bool NextPermutation(std::array<int, kPermutationSize>& arr) {
int j;
for (j = arr.size() - 2; j >= 0; --j) {
if (arr[j] < arr[j + 1]) {
break;
}
}
// last permutation i.e. [n, n - 1, ..., 3, 2, 1]
if (j < 0) {
return false;
}
for (int l = arr.size() - 1; l > -1; --l) {
if (arr[j] < arr[l]) {
std::swap(arr[j], arr[l]);
std::reverse(arr.begin() + j + 1, arr.end());
return true;
}
}
return true;
}
int IntCompare(int* i, int* j, void* context) {
if (*i < *j) {
return -1;
} else if (*i == *j) {
return 0;
} else {
return 1;
}
}
mjSORT(IntSort, int, IntCompare)
int IntStructCompare(const IntStruct* x, const IntStruct* y, void* context) {
IntStruct* a = (IntStruct*)x;
IntStruct* b = (IntStruct*)y;
if (a->value < b->value) {
return -1;
} else if (a->value == b->value) {
return 0;
} else {
return 1;
}
}
mjSORT(IntStructSort, IntStruct, IntStructCompare)
TEST_F(EngineSortTest, Sort) {
int total = 0;
std::array<int, kPermutationSize> initial, buf;
for (int i = 0; i < kPermutationSize; ++i) {
initial[i] = i + 1;
}
std::array<int, kPermutationSize> arr = initial;
do {
++total;
std::array<int, kPermutationSize> sorted_arr = arr;
IntSort(sorted_arr.data(), buf.data(), sorted_arr.size(), nullptr);
EXPECT_EQ(sorted_arr, initial);
} while (NextPermutation(arr));
ASSERT_EQ(total, factorial());
}
TEST_F(EngineSortTest, LargeSort) {
std::array<int, 2500> arr, buf;
int n = 1;
for (int i = arr.size() - 1; i >= 0; --i) {
arr[i] = n++;
}
IntSort(arr.data(), buf.data(), arr.size(), nullptr);
for (int i = 0; i < arr.size(); ++i) {
EXPECT_EQ(arr[i], i + 1);
}
}
TEST_F(EngineSortTest, SortStruct) {
std::vector<IntStruct> y = {{1}, {3}, {2}};
std::vector<IntStruct> buf(3);
IntStructSort(y.data(), buf.data(), y.size(), nullptr);
EXPECT_EQ(y[0].value, 1);
EXPECT_EQ(y[1].value, 2);
EXPECT_EQ(y[2].value, 3);
}
} // namespace
} // namespace mujoco
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