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/* Author: Ioan Sucan */

#define BOOST_TEST_MODULE "Random"
#include <boost/test/unit_test.hpp>

#include "ompl/config.h"
#include "ompl/util/RandomNumbers.h"
#include "../../BoostTestTeamCityReporter.h"
#include <cmath>
#include <vector>
#include <cstdio>
// For boost::make_shared
#include <boost/make_shared.hpp>

using namespace ompl;

struct SetSeedTo1
{
    SetSeedTo1(void)
    {
        ompl::RNG::setSeed(1);
    }
};
// make sure the test is deterministic
static SetSeedTo1 proxy;

// define a convenience macro
#define BOOST_OMPL_EXPECT_NEAR(a, b, diff) BOOST_CHECK_SMALL((a) - (b), diff)

/* Just test we get some random values */
BOOST_AUTO_TEST_CASE(DifferentSeeds)
{
    RNG r1, r2, r3, r4;
    int same = 0;
    int eq   = 0;
    const int N = 100;
    for (int i = 0 ; i < N ; ++i)
    {
        int v1 = r1.uniformInt(0, 100);
        int v2 = r2.uniformInt(0, 100);
        int v3 = r3.uniformInt(0, 100);
        int v4 = r4.uniformInt(0, 100);

        if (v1 == v2 && v2 == v3 && v3 == v4)
            eq++;
        if (v1 == r1.uniformInt(0, 100))
            same++;
        if (v2 == r2.uniformInt(0, 100))
            same++;
        if (v3 == r3.uniformInt(0, 100))
            same++;
        if (v4 == r4.uniformInt(0, 100))
            same++;
    }
    BOOST_CHECK(!(eq > N / 2));
    BOOST_CHECK(same < 2 * N);
}

BOOST_AUTO_TEST_CASE(ValidRangeInts)
{
    RNG r;
    const int N = 100;
    const int V = 10000 * N;
    std::vector<int> c(N + 1, 0);
    for (int i = 0 ; i < V ; ++i)
    {
        int v = r.uniformInt(0, N);
        BOOST_CHECK(v >= 0);
        BOOST_CHECK(v <= N);
        c[v]++;
    }

    for (unsigned int i = 0 ; i < c.size() ; ++i)
        BOOST_CHECK(c[i] > V/N/3);
}

static const double NUM_INT_SAMPLES =  1000000;
static const double NUM_REAL_SAMPLES = 1000000;
/* The following widening factor is multiplied by the standard error of the mean
 * in errUniformInt() and errUniformReal() to obtain a reasonable range to pass to BOOST_CHECK_CLOSE().
 * 4 sigma events should only happen "twice a lifetime" on average, so this should be lienient enough. */
static const double STDERR_WIDENING_FACTOR = 4.0;

static double avgIntsN(int s, int l, const int N)
{
    RNG r;
    double sum = 0.0;
    for (int i = 0 ; i < N ; ++i)
        sum += r.uniformInt(s, l);
    return sum / (double)N;
}

static double avgInts(int s, int l)
{
    return avgIntsN(s, l, NUM_INT_SAMPLES);
}

static double errUniformInt(int s, int l)
{
    const int length = l-s+1;
    // standard error of mean for discrete uniform distribution over {s,s+1,...,l}
    const double stdErr = sqrt((length*length-1)/(12.0*NUM_INT_SAMPLES));
    return stdErr * STDERR_WIDENING_FACTOR + std::numeric_limits<double>::epsilon();
}

BOOST_AUTO_TEST_CASE(AvgInts)
{
    BOOST_OMPL_EXPECT_NEAR(avgInts(0, 1), 0.5, errUniformInt(0,1));
    BOOST_OMPL_EXPECT_NEAR(avgInts(0, 10), 5.0, errUniformInt(0,10));
    BOOST_OMPL_EXPECT_NEAR(avgInts(-1, 1), 0.0, errUniformInt(-1,1));
    BOOST_OMPL_EXPECT_NEAR(avgInts(-1, 0), -0.5, errUniformInt(-1,0));
    BOOST_OMPL_EXPECT_NEAR(avgInts(-2, 4), 1.0, errUniformInt(-2,4));
    BOOST_OMPL_EXPECT_NEAR(avgInts(2, 4), 3.0, errUniformInt(2,4));
    BOOST_OMPL_EXPECT_NEAR(avgInts(-6, -2), -4.0, errUniformInt(-6,-2));
    BOOST_OMPL_EXPECT_NEAR(avgIntsN(0, 0, 1000), 0.0, errUniformInt(0,0));
}

static double avgRealsN(double s, double l, const int N)
{
    RNG r;
    double sum = 0.0;
    for (int i = 0 ; i < N ; ++i)
        sum += r.uniformReal(s, l);
    return sum / (double)N;
}

static double avgReals(double s, double l)
{
    return avgRealsN(s, l, NUM_REAL_SAMPLES);
}

static double errUniformReal(double s, double l)
{
    // standard error of mean for continuous uniform distribution over real interval [s,l].
    const double stdErr = (l-s)*sqrt(1.0/(12.0*NUM_REAL_SAMPLES));
    return stdErr * STDERR_WIDENING_FACTOR + std::numeric_limits<double>::epsilon();
}

BOOST_AUTO_TEST_CASE(AvgReals)
{
    BOOST_OMPL_EXPECT_NEAR(avgReals(-0.1, 0.3), 0.1, errUniformReal(-0.1,0.3));
    BOOST_OMPL_EXPECT_NEAR(avgReals(0, 1), 0.5, errUniformReal(0,1));
    BOOST_OMPL_EXPECT_NEAR(avgReals(0, 10), 5.0, errUniformReal(0,10));
    BOOST_OMPL_EXPECT_NEAR(avgReals(-1, 1), 0.0, errUniformReal(-1,1));
    BOOST_OMPL_EXPECT_NEAR(avgReals(-1, 0), -0.5, errUniformReal(-1,0));
    BOOST_OMPL_EXPECT_NEAR(avgReals(-2, 4), 1.0, errUniformReal(-2,4));
    BOOST_OMPL_EXPECT_NEAR(avgReals(2, 4), 3.0, errUniformReal(2,4));
    BOOST_OMPL_EXPECT_NEAR(avgReals(-6, -2), -4.0, errUniformReal(-6,-2));
    BOOST_OMPL_EXPECT_NEAR(avgRealsN(0, 0, 1000), 0.0, errUniformReal(0,0));
}

static double avgNormalRealsN(double mean, double stddev, const int N)
{
    RNG r;
    double sum = 0.0;
    for (int i = 0 ; i < N ; ++i)
        sum += r.gaussian(mean, stddev);
    return sum / (double)N;
}

static double avgNormalReals(double m, double s)
{
    return avgNormalRealsN(m, s, NUM_REAL_SAMPLES);
}

static double errNormal(double stddev)
{
    // standard error of mean for gaussian with given stddev
    return STDERR_WIDENING_FACTOR * stddev / sqrt(NUM_REAL_SAMPLES);
}

BOOST_AUTO_TEST_CASE(NormalReals)
{
    BOOST_OMPL_EXPECT_NEAR(avgNormalReals(10.0, 1.0), 10.0, errNormal(1.0));
}


BOOST_AUTO_TEST_CASE(SampleUnitSphere)
{
    // Variables
    // The random number generator
    RNG rng;
    // The number of dimensions to test
    unsigned int numDims = 25u;
    // The number of samples to test per dimension
    unsigned int numSamples = 1000u;
    // The testing tolerance
    double testTol = 10.0*std::numeric_limits<double>::epsilon();

    // Iterate over a sequence of dimensions
    for (unsigned int dim = 1u; dim <= numDims; ++dim)
    {
        // Iterate over a sequence of random samples
        for (unsigned int j = 0u; j < numSamples; ++j)
        {
            // Variables
            // Sample
            std::vector<double> xRand(dim);
            // Magnitude
            double magnitude;

            // Get the random sample
            rng.uniformNormalVector(dim, &xRand[0]);

            // Calculate the magnitude
            magnitude = 0.0;
            for (std::vector<double>::const_iterator iter = xRand.begin(); iter != xRand.end(); ++iter)
            {
                magnitude = magnitude + *iter * *iter;
            }
            magnitude = std::sqrt(magnitude);

            // Check that it's close enough to 1.0
            BOOST_OMPL_EXPECT_NEAR(magnitude, 1.0, testTol);
        }
    }
}

BOOST_AUTO_TEST_CASE(SampleBall)
{
    // Variables
    // The random number generator
    RNG rng;
    // The number of dimensions to test
    unsigned int numDims = 25u;
    // The number of samples to test per dimension
    unsigned int numSamples = 1000u;

    // Iterate over a sequence of dimensions
    for (unsigned int dim = 1u; dim <= numDims; ++dim)
    {
        // Variables
        // The radius
        double radius;

        // And a random radius
        radius = rng.uniformReal(0.1, 10);

        // Iterate over a sequence of random samples
        for (unsigned int j = 0u; j < numSamples; ++j)
        {
            // Variables
            // Sample
            std::vector<double> xRand(dim);
            // Magnitude
            double magnitude;

            // Get the random sample
            rng.uniformInBall(radius, dim, &xRand[0]);

            // Calculate the magnitude
            magnitude = 0.0;
            for (std::vector<double>::const_iterator iter = xRand.begin(); iter != xRand.end(); ++iter)
            {
                magnitude = magnitude + *iter * *iter;
            }
            magnitude = std::sqrt(magnitude);

            // Check that it's close enough to 1.0
            BOOST_CHECK_LT(magnitude, radius);
        }
    }
}

#if OMPL_HAVE_EIGEN3

BOOST_AUTO_TEST_CASE(SamplePhsSurface)
{
    // Variables
    // The random number generator
    RNG rng;
    // The number of dimensions to test
    unsigned int numDims = 25u;
    // The number of samples to test per dimension
    unsigned int numSamples = 1000u;
    // The testing tolerance
    double testTol = 1E5*std::numeric_limits<double>::epsilon();

    // Iterate over a sequence of dimensions
    for (unsigned int dim = 1u; dim <= numDims; ++dim)
    {
        // Variables
        // The foci
        std::vector<double> v1(dim);
        std::vector<double> v2(dim);
        // The transverse diameter
        double tDiameter;
        // The PHS definition
        ompl::ProlateHyperspheroidPtr phsPtr;

        // Pick random foci
        for (unsigned int i = 0u; i < dim; ++i)
        {
            v1.at(i) = rng.uniformReal(-25.0, 25.0);
            v2.at(i) = rng.uniformReal(-25.0, 25.0);
        }

        // Create the PHS object
        phsPtr = boost::make_shared<ompl::ProlateHyperspheroid>(dim, &v1[0], &v2[0]);

        // Pick a random transverse diameter
        tDiameter = rng.uniformReal(1.01*phsPtr->getMinTransverseDiameter(), 2.5*phsPtr->getMinTransverseDiameter());

        // Set
        phsPtr->setTransverseDiameter(tDiameter);

        // Iterate over a sequence of random samples
        for (unsigned int j = 0u; j < numSamples; ++j)
        {
            // Variables
            // Sample
            std::vector<double> xRand(dim);

            // Get the random sample
            rng.uniformProlateHyperspheroidSurface(phsPtr, &xRand[0]);

            // Check that the point lies on the surface
            BOOST_OMPL_EXPECT_NEAR(phsPtr->getPathLength(&xRand[0]), tDiameter, testTol);
        }
    }
}


BOOST_AUTO_TEST_CASE(SampleInPhs)
{
    // Variables
    // The random number generator
    RNG rng;
    // The number of dimensions to test
    unsigned int numDims = 25u;
    // The number of samples to test per dimension
    unsigned int numSamples = 1000u;

    // Iterate over a sequence of dimensions
    for (unsigned int dim = 1u; dim <= numDims; ++dim)
    {
        // Variables
        // The foci
        std::vector<double> v1(dim);
        std::vector<double> v2(dim);
        // The transverse diameter
        double tDiameter;
        // The PHS definition
        ompl::ProlateHyperspheroidPtr phsPtr;

        // Pick random foci
        for (unsigned int i = 0u; i < dim; ++i)
        {
            v1.at(i) = rng.uniformReal(-25.0, 25.0);
            v2.at(i) = rng.uniformReal(-25.0, 25.0);
        }

        // Create the PHS object
        phsPtr = boost::make_shared<ompl::ProlateHyperspheroid>(dim, &v1[0], &v2[0]);

        // Pick a random transverse diameter
        tDiameter = rng.uniformReal(1.1*phsPtr->getMinTransverseDiameter(), 2.5*phsPtr->getMinTransverseDiameter());

        // Set
        phsPtr->setTransverseDiameter(tDiameter);

        // Iterate over a sequence of random samples
        for (unsigned int j = 0u; j < numSamples; ++j)
        {
            // Variables
            // Sample
            std::vector<double> xRand(dim);

            // Get the random sample
            rng.uniformProlateHyperspheroid(phsPtr, &xRand[0]);

            // Check that the point lies within the shape
            BOOST_CHECK_GE(phsPtr->getPathLength(&xRand[0]), phsPtr->getMinTransverseDiameter());
            BOOST_CHECK_LT(phsPtr->getPathLength(&xRand[0]), tDiameter);
        }
    }
}

#endif // OMPL_HAVE_EIGEN3
