test/tensor: add test of Eigen::Tensor

unittest/CMakeLists.txt

@@ -43,6 +43,7 @@ ENDMACRO(ADD_PINOCCHIO_UNIT_TEST)
 
 # Math components
 ADD_PINOCCHIO_UNIT_TEST(eigen-basic-op)
+ADD_PINOCCHIO_UNIT_TEST(eigen-tensor)
 ADD_PINOCCHIO_UNIT_TEST(sincos)
 ADD_PINOCCHIO_UNIT_TEST(quaternion)
 ADD_PINOCCHIO_UNIT_TEST(rotation)

unittest/eigen-tensor.cpp

+//
+// Copyright (c) 2019 INRIA
+//
+
+#include <Eigen/Core>
+
+#include "pinocchio/multibody/model.hpp"
+
+#include <boost/test/unit_test.hpp>
+#include <boost/utility/binary.hpp>
+
+#include <unsupported/Eigen/CXX11/Tensor>
+
+#include <iostream>
+
+BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
+
+BOOST_AUTO_TEST_CASE(test_emulate_tensors)
+{
+  typedef Eigen::Tensor<double,3> Tensor;
+  
+  const Eigen::DenseIndex x_dim = 6, y_dim = 20, z_dim = 20;
+  Tensor tensor1(x_dim,y_dim,z_dim);
+  
+  BOOST_CHECK(tensor1.size() == x_dim * y_dim * z_dim);
+  BOOST_CHECK(tensor1.dimension(0) == x_dim);
+  BOOST_CHECK(tensor1.dimension(1) == y_dim);
+  BOOST_CHECK(tensor1.dimension(2) == z_dim);
+  
+  double * data = tensor1.data();
+  for(Eigen::DenseIndex k = 0; k < tensor1.size(); ++k)
+    data[k] = k;
+  
+  for(Eigen::DenseIndex k = 0; k < z_dim; ++k)
+  {
+    for(Eigen::DenseIndex j = 0; j < y_dim; ++j)
+    {
+      for(Eigen::DenseIndex i = 0; i < x_dim; ++i)
+      {
+        BOOST_CHECK(tensor1(i,j,k) == i + j*x_dim + k*(x_dim*y_dim));
+      }
+    }
+  }
+}
+
+BOOST_AUTO_TEST_SUITE_END()