Extend Polynomial3 unit tests

Signed-off-by: Michel Hidalgo <[email protected]>
gazebosim · Mar 23, 2022 · 79d493c · 79d493c
1 parent 3f4fadc
commit 79d493c
Showing 1 changed file with 32 additions and 2 deletions.
diff --git a/src/Polynomial3_TEST.cc b/src/Polynomial3_TEST.cc
@@ -99,6 +99,10 @@ TEST(Polynomial3Test, Minimum)
         math::Intervald::Open(0., 0.))));
     EXPECT_DOUBLE_EQ(p.Minimum(
         math::Intervald::Open(1., 2.)), 3.);
+    EXPECT_DOUBLE_EQ(p.Minimum(
+        math::Intervald::Open(-1., 0.)), 0.75);
+    EXPECT_DOUBLE_EQ(p.Minimum(
+        math::Intervald::Open(-3., -2.)), 3);
     EXPECT_DOUBLE_EQ(p.Minimum(), 0.75);
   }
   {
@@ -108,6 +112,10 @@ TEST(Polynomial3Test, Minimum)
         math::Intervald::Open(0., 0.))));
     EXPECT_DOUBLE_EQ(p.Minimum(
         math::Intervald::Open(1., 2.)), -1.);
+    EXPECT_DOUBLE_EQ(p.Minimum(
+        math::Intervald::Open(-2., -1.)), -5.);
+    EXPECT_DOUBLE_EQ(p.Minimum(
+        math::Intervald::Open(0., 1.)), 1.);
     EXPECT_DOUBLE_EQ(p.Minimum(), -math::INF_D);
   }
   {
@@ -117,6 +125,10 @@ TEST(Polynomial3Test, Minimum)
         math::Intervald::Open(0., 0.))));
     EXPECT_DOUBLE_EQ(p.Minimum(
         math::Intervald::Open(-1., 1.)), 0.);
+    EXPECT_DOUBLE_EQ(p.Minimum(
+        math::Intervald::Open(-2., -1.)), -5.);
+    EXPECT_DOUBLE_EQ(p.Minimum(
+        math::Intervald::Open(2., 3.)), 15.);
     EXPECT_DOUBLE_EQ(p.Minimum(), -math::INF_D);
   }
   {
@@ -125,8 +137,13 @@ TEST(Polynomial3Test, Minimum)
     EXPECT_TRUE(std::isnan(p.Minimum(
         math::Intervald::Open(0., 0.))));
     EXPECT_DOUBLE_EQ(p.Minimum(
-        math::Intervald::Open(-1., 1.)),
-        0.8873882090776197);
+        math::Intervald::Open(-1., 1.)), 0.8873882090776197);
+    EXPECT_DOUBLE_EQ(p.Minimum(
+        math::Intervald::Open(-3., -2.)), 15);
+    EXPECT_DOUBLE_EQ(p.Minimum(
+        math::Intervald::Open(1., 2.)), 3);
+    EXPECT_DOUBLE_EQ(p.Minimum(
+        math::Intervald::Open(2., 3.)), -5);
     EXPECT_DOUBLE_EQ(p.Minimum(), -math::INF_D);
   }
   {
@@ -136,6 +153,19 @@ TEST(Polynomial3Test, Minimum)
         math::Intervald::Open(0., 0.))));
     EXPECT_DOUBLE_EQ(p.Minimum(
         math::Intervald::Open(-1., 1.)), -3);
+    EXPECT_DOUBLE_EQ(p.Minimum(
+        math::Intervald::Open(0., 2.)), 1);
+    EXPECT_DOUBLE_EQ(p.Minimum(
+        math::Intervald::Open(2., 3.)), 3);
+    EXPECT_DOUBLE_EQ(p.Minimum(), -math::INF_D);
+  }
+  {
+    const math::Polynomial3d p(
+        math::Vector4d(1., -4., -2., -1.));
+    EXPECT_TRUE(std::isnan(p.Minimum(
+        math::Intervald::Open(0., 0.))));
+    EXPECT_DOUBLE_EQ(p.Minimum(
+        math::Intervald::Open(-1., 6.)), -16.051047904897441);
     EXPECT_DOUBLE_EQ(p.Minimum(), -math::INF_D);
   }
 }