10 digit precision in JVM assertions

Author: mihbor

src/commonTest/kotlin/ltd/mbor/sciko/robotics/ModernRoboticsTest.kt

@@ -22,13 +22,13 @@ import kotlin.test.assertEquals
 import kotlin.test.assertFalse
 import kotlin.test.assertTrue
 
-class ModernRoboticsTest {
-  fun Double.round(scale: Long = 8) = toBigDecimal().roundToDigitPositionAfterDecimalPoint(digitPosition = scale, roundingMode = RoundingMode.ROUND_HALF_CEILING).doubleValue(false)
-  fun Double.roundSignificand(decimalPrecision: Long) = toBigDecimal().roundSignificand(DecimalMode(decimalPrecision = decimalPrecision, roundingMode = RoundingMode.ROUND_HALF_CEILING)).doubleValue(false)
+fun Double.round(scale: Long = 8) = toBigDecimal().roundToDigitPositionAfterDecimalPoint(digitPosition = scale, roundingMode = RoundingMode.ROUND_HALF_CEILING).doubleValue(false)
+fun Double.roundSignificand(decimalPrecision: Long) = toBigDecimal().roundSignificand(DecimalMode(decimalPrecision = decimalPrecision, roundingMode = RoundingMode.ROUND_HALF_CEILING)).doubleValue(false)
 
-  fun <D: Dimension> MultiArray<Double, D>.round(scale: Long = 8) = map { it.round(scale) }
-  fun <D: Dimension> MultiArray<Double, D>.roundSignificand(decimalPrecision: Long) = map { it.roundSignificand(decimalPrecision) }
+fun <D: Dimension> MultiArray<Double, D>.round(scale: Long = 8) = map { it.round(scale) }
+fun <D: Dimension> MultiArray<Double, D>.roundSignificand(decimalPrecision: Long) = map { it.roundSignificand(decimalPrecision) }
 
+class ModernRoboticsTest {
   // *** BASIC HELPER FUNCTIONS ***
 
   @Test

src/jvmTest/kotlin/ltd/mbor/sciko/robotics/ModernRoboticsTestJvm.kt

@@ -10,11 +10,17 @@ import org.jetbrains.kotlinx.multik.ndarray.operations.*
 import java.io.File
 import kotlin.math.PI
 import kotlin.math.roundToInt
+import kotlin.test.BeforeTest
 import kotlin.test.Test
 import kotlin.test.assertEquals
 
 class ModernRoboticsTestJvm {
 
+  @BeforeTest
+  fun setup() {
+    mk.setEngine(KEEngineType)
+  }
+
   @Test
   fun `test InverseDynamicsTrajectory`() {
 
@@ -77,9 +83,8 @@ class ModernRoboticsTestJvm {
       ]).transpose(),
     )
     assertEquals(
-      mk.d2arrayFromFile("InverseDynamicsTrajectory.csv"),
-      taumat,
-      "$taumat not equal ${mk.d2arrayFromFile("InverseDynamicsTrajectory.csv")}"
+      mk.d2arrayFromFile("InverseDynamicsTrajectory.csv").round(10),
+      taumat.round(10)
     )
 
     //Output using kandy to plot the joint forces/torques
@@ -139,13 +144,12 @@ class ModernRoboticsTestJvm {
       intRes = 8
     )
     assertEquals(
-      mk.d2arrayFromFile("ForwardDynamicsTrajectory-Theta.csv"),
-      thetamat,
-      "$thetamat not equal ${mk.d2arrayFromFile("ForwardDynamicsTrajectory-Theta.csv")}"
+      mk.d2arrayFromFile("ForwardDynamicsTrajectory-Theta.csv").round(10),
+      thetamat.round(10)
     )
     assertEquals(
-      mk.d2arrayFromFile("ForwardDynamicsTrajectory-DTheta.csv"),
-      dthetamat
+      mk.d2arrayFromFile("ForwardDynamicsTrajectory-DTheta.csv").round(10),
+      dthetamat.round(10)
     )
 
     // Output using kandy to plot the joint angle/velocities
@@ -263,12 +267,12 @@ class ModernRoboticsTestJvm {
       intRes
     )
     assertEquals(
-      mk.d2arrayFromFile("SimulateControl-ThetaActual.csv"),
-      thetamat
+      mk.d2arrayFromFile("SimulateControl-ThetaActual.csv").round(10),
+      thetamat.round(10)
     )
     assertEquals(
-      mk.d2arrayFromFile("SimulateControl-ThetaDesired.csv"),
-      thetamatd
+      mk.d2arrayFromFile("SimulateControl-ThetaDesired.csv").round(10),
+      thetamatd.round(10)
     )
 
     // Output using kandy to plot