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<div class="title">assert_within.h</div> </div>
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<a href="assert__within_8h.html">Go to the documentation of this file.</a><div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno"> 1</span> <span class="comment">// Copyright 2022, farm-ng inc.</span></div>
<div class="line"><a name="l00002"></a><span class="lineno"> 2</span> <span class="comment">//</span></div>
<div class="line"><a name="l00003"></a><span class="lineno"> 3</span> <span class="comment">// Licensed under the Apache License, Version 2.0 (the "License");</span></div>
<div class="line"><a name="l00004"></a><span class="lineno"> 4</span> <span class="comment">// you may not use this file except in compliance with the License.</span></div>
<div class="line"><a name="l00005"></a><span class="lineno"> 5</span> <span class="comment">// You may obtain a copy of the License at</span></div>
<div class="line"><a name="l00006"></a><span class="lineno"> 6</span> <span class="comment">//</span></div>
<div class="line"><a name="l00007"></a><span class="lineno"> 7</span> <span class="comment">// http://www.apache.org/licenses/LICENSE-2.0</span></div>
<div class="line"><a name="l00008"></a><span class="lineno"> 8</span> <span class="comment">//</span></div>
<div class="line"><a name="l00009"></a><span class="lineno"> 9</span> <span class="comment">// Unless required by applicable law or agreed to in writing, software</span></div>
<div class="line"><a name="l00010"></a><span class="lineno"> 10</span> <span class="comment">// distributed under the License is distributed on an "AS IS" BASIS,</span></div>
<div class="line"><a name="l00011"></a><span class="lineno"> 11</span> <span class="comment">// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.</span></div>
<div class="line"><a name="l00012"></a><span class="lineno"> 12</span> <span class="comment">// See the License for the specific language governing permissions and</span></div>
<div class="line"><a name="l00013"></a><span class="lineno"> 13</span> <span class="comment">// limitations under the License.</span></div>
<div class="line"><a name="l00014"></a><span class="lineno"> 14</span>  </div>
<div class="line"><a name="l00015"></a><span class="lineno"> 15</span> <span class="preprocessor">#pragma once</span></div>
<div class="line"><a name="l00016"></a><span class="lineno"> 16</span>  </div>
<div class="line"><a name="l00017"></a><span class="lineno"> 17</span> <span class="preprocessor">#include "<a class="code" href="expected_8h.html">farm_ng/core/logging/expected.h</a>"</span></div>
<div class="line"><a name="l00018"></a><span class="lineno"> 18</span>  </div>
<div class="line"><a name="l00019"></a><span class="lineno"> 19</span> <span class="preprocessor">#include <Eigen/Core></span></div>
<div class="line"><a name="l00020"></a><span class="lineno"> 20</span>  </div>
<div class="line"><a name="l00021"></a><span class="lineno"><a class="line" href="namespacefarm__ng.html"> 21</a></span> <span class="keyword">namespace </span><a class="code" href="namespacefarm__ng.html">farm_ng</a> {</div>
<div class="line"><a name="l00022"></a><span class="lineno"> 22</span> <span class="comment"></span> </div>
<div class="line"><a name="l00023"></a><span class="lineno"> 23</span> <span class="comment">/// Checks whether two floating point numbers x, y are close to each other.</span></div>
<div class="line"><a name="l00024"></a><span class="lineno"> 24</span> <span class="comment">///</span></div>
<div class="line"><a name="l00025"></a><span class="lineno"> 25</span> <span class="comment">/// It outputs: min(|x-y|, |x-y| / max(|x|, |y|))</span></div>
<div class="line"><a name="l00026"></a><span class="lineno"> 26</span> <span class="comment">///</span></div>
<div class="line"><a name="l00027"></a><span class="lineno"> 27</span> <span class="comment">/// The output is between 0.0 and 2.0:</span></div>
<div class="line"><a name="l00028"></a><span class="lineno"> 28</span> <span class="comment">///</span></div>
<div class="line"><a name="l00029"></a><span class="lineno"> 29</span> <span class="comment">/// * x and y are close => ~0.0</span></div>
<div class="line"><a name="l00030"></a><span class="lineno"> 30</span> <span class="comment">/// * x and y are NOT close and</span></div>
<div class="line"><a name="l00031"></a><span class="lineno"> 31</span> <span class="comment">/// - |x| and |y| are NOT close => ~1.0</span></div>
<div class="line"><a name="l00032"></a><span class="lineno"> 32</span> <span class="comment">/// - |x| and |y| are close => ~2.0</span></div>
<div class="line"><a name="l00033"></a><span class="lineno"><a class="line" href="namespacefarm__ng.html#adf3d1d8a51cba7ea1287dd223e01fa35"> 33</a></span> <span class="comment"></span><span class="keyword">inline</span> <span class="keywordtype">double</span> <a class="code" href="namespacefarm__ng.html#adf3d1d8a51cba7ea1287dd223e01fa35">relativeCloseness</a>(<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y) {</div>
<div class="line"><a name="l00034"></a><span class="lineno"> 34</span>  <span class="comment">// https://c-faq.com/fp/fpequal.html</span></div>
<div class="line"><a name="l00035"></a><span class="lineno"> 35</span>  <span class="keywordtype">double</span> abs_diff = std::abs(x - y);</div>
<div class="line"><a name="l00036"></a><span class="lineno"> 36</span>  <span class="keywordtype">double</span> rel_diff = abs_diff / <a class="code" href="namespacesophus.html#a7101763b5d5f82650cd235708de14ada">std::max</a>(std::abs(x), std::abs(y));</div>
<div class="line"><a name="l00037"></a><span class="lineno"> 37</span>  </div>
<div class="line"><a name="l00038"></a><span class="lineno"> 38</span>  <span class="comment">// We are using "rel_diff" from the c-faq reference. However, instead of just</span></div>
<div class="line"><a name="l00039"></a><span class="lineno"> 39</span>  <span class="comment">// checking for x==0 and y==0, we perform the minimum over `rel_diff` and</span></div>
<div class="line"><a name="l00040"></a><span class="lineno"> 40</span>  <span class="comment">// `abs_diff`. This is to avoid surprises when there are two small numbers</span></div>
<div class="line"><a name="l00041"></a><span class="lineno"> 41</span>  <span class="comment">// with opposite sign.</span></div>
<div class="line"><a name="l00042"></a><span class="lineno"> 42</span>  <span class="comment">// E.g. for x=0.001 and y=-0.001 we have abs_diff = 0.002, but rel_diff</span></div>
<div class="line"><a name="l00043"></a><span class="lineno"> 43</span>  <span class="comment">// = 2.0, hence relativeCloseness(0.001, -0.001) = 0.002.</span></div>
<div class="line"><a name="l00044"></a><span class="lineno"> 44</span>  <span class="keywordflow">return</span> <a class="code" href="namespacesophus.html#a83cdb3670cd3c86a8865752b33e0f188">std::min</a>(abs_diff, rel_diff);</div>
<div class="line"><a name="l00045"></a><span class="lineno"> 45</span> }</div>
<div class="line"><a name="l00046"></a><span class="lineno"> 46</span>  </div>
<div class="line"><a name="l00047"></a><span class="lineno"> 47</span> <span class="keyword">namespace </span>details {</div>
<div class="line"><a name="l00048"></a><span class="lineno"> 48</span> <span class="keyword">template</span> <<span class="keyword">class</span> TPo<span class="keywordtype">int</span>, <span class="keyword">class</span> TPo<span class="keywordtype">int</span>2, <span class="keyword">class</span> TEnabler = <span class="keywordtype">void</span>></div>
<div class="line"><a name="l00049"></a><span class="lineno"> 49</span> <span class="keyword">struct </span>CheckNear;</div>
<div class="line"><a name="l00050"></a><span class="lineno"> 50</span>  </div>
<div class="line"><a name="l00051"></a><span class="lineno"> 51</span> <span class="keyword">template</span> <<span class="keyword">class</span> TPo<span class="keywordtype">int</span>, <span class="keyword">class</span> TPo<span class="keywordtype">int</span>2></div>
<div class="line"><a name="l00052"></a><span class="lineno"> 52</span> <span class="keyword">struct </span>CheckNear<</div>
<div class="line"><a name="l00053"></a><span class="lineno"> 53</span>  TPoint,</div>
<div class="line"><a name="l00054"></a><span class="lineno"> 54</span>  TPoint2,</div>
<div class="line"><a name="l00055"></a><span class="lineno"> 55</span>  std::enable_if_t<</div>
<div class="line"><a name="l00056"></a><span class="lineno"> 56</span>  std::is_arithmetic_v<TPoint> && std::is_arithmetic_v<TPoint2>,</div>
<div class="line"><a name="l00057"></a><span class="lineno"> 57</span>  void>> {</div>
<div class="line"><a name="l00058"></a><span class="lineno"> 58</span>  <span class="keyword">static</span> Expected<Success> check(</div>
<div class="line"><a name="l00059"></a><span class="lineno"> 59</span>  <span class="keywordtype">bool</span> check_relative,</div>
<div class="line"><a name="l00060"></a><span class="lineno"> 60</span>  <span class="keywordtype">double</span> <span class="keyword">const</span>& lhs,</div>
<div class="line"><a name="l00061"></a><span class="lineno"> 61</span>  <span class="keywordtype">char</span> <span class="keyword">const</span>* lhs_cstr,</div>
<div class="line"><a name="l00062"></a><span class="lineno"> 62</span>  <span class="keywordtype">double</span> <span class="keyword">const</span>& rhs,</div>
<div class="line"><a name="l00063"></a><span class="lineno"> 63</span>  <span class="keywordtype">char</span> <span class="keyword">const</span>* rhs_cstr,</div>
<div class="line"><a name="l00064"></a><span class="lineno"> 64</span>  <span class="keywordtype">double</span> <span class="keyword">const</span>& thr) {</div>
<div class="line"><a name="l00065"></a><span class="lineno"> 65</span>  <span class="keywordtype">double</span> err =</div>
<div class="line"><a name="l00066"></a><span class="lineno"> 66</span>  check_relative ? <a class="code" href="namespacefarm__ng.html#adf3d1d8a51cba7ea1287dd223e01fa35">relativeCloseness</a>(rhs, lhs) : std::abs(rhs - lhs);</div>
<div class="line"><a name="l00067"></a><span class="lineno"> 67</span>  <span class="keywordflow">if</span> (!(err <= thr)) {</div>
<div class="line"><a name="l00068"></a><span class="lineno"> 68</span>  <span class="comment">// inverted comparison, so we also end up here if err or max_error</span></div>
<div class="line"><a name="l00069"></a><span class="lineno"> 69</span>  <span class="keywordflow">return</span> <a class="code" href="expected_8h.html#a6dee105e19978afe3959a85843ed9575">FARM_UNEXPECTED</a>(</div>
<div class="line"><a name="l00070"></a><span class="lineno"> 70</span>  <span class="stringliteral">"\nNot true: {} near {}; has error of {} (thr: {})\n"</span></div>
<div class="line"><a name="l00071"></a><span class="lineno"> 71</span>  <span class="stringliteral">"LHS: `{}` is:\n"</span></div>
<div class="line"><a name="l00072"></a><span class="lineno"> 72</span>  <span class="stringliteral">"{}\n\n"</span></div>
<div class="line"><a name="l00073"></a><span class="lineno"> 73</span>  <span class="stringliteral">"RHS `{}` is:\n"</span></div>
<div class="line"><a name="l00074"></a><span class="lineno"> 74</span>  <span class="stringliteral">"{}\n\n"</span>,</div>
<div class="line"><a name="l00075"></a><span class="lineno"> 75</span>  lhs_cstr,</div>
<div class="line"><a name="l00076"></a><span class="lineno"> 76</span>  rhs_cstr,</div>
<div class="line"><a name="l00077"></a><span class="lineno"> 77</span>  err,</div>
<div class="line"><a name="l00078"></a><span class="lineno"> 78</span>  thr,</div>
<div class="line"><a name="l00079"></a><span class="lineno"> 79</span>  lhs_cstr,</div>
<div class="line"><a name="l00080"></a><span class="lineno"> 80</span>  lhs,</div>
<div class="line"><a name="l00081"></a><span class="lineno"> 81</span>  rhs_cstr,</div>
<div class="line"><a name="l00082"></a><span class="lineno"> 82</span>  rhs);</div>
<div class="line"><a name="l00083"></a><span class="lineno"> 83</span>  }</div>
<div class="line"><a name="l00084"></a><span class="lineno"> 84</span>  <span class="keywordflow">return</span> Success{};</div>
<div class="line"><a name="l00085"></a><span class="lineno"> 85</span>  }</div>
<div class="line"><a name="l00086"></a><span class="lineno"> 86</span> };</div>
<div class="line"><a name="l00087"></a><span class="lineno"> 87</span>  </div>
<div class="line"><a name="l00088"></a><span class="lineno"> 88</span> <span class="keyword">template</span> <<span class="keyword">class</span> TScalar, <span class="keywordtype">int</span> kRows, <span class="keywordtype">int</span> kCols></div>
<div class="line"><a name="l00089"></a><span class="lineno"> 89</span> <span class="keyword">struct </span>CheckNear<</div>
<div class="line"><a name="l00090"></a><span class="lineno"> 90</span>  Eigen::Matrix<TScalar, kRows, kCols>,</div>
<div class="line"><a name="l00091"></a><span class="lineno"> 91</span>  Eigen::Matrix<TScalar, kRows, kCols>,</div>
<div class="line"><a name="l00092"></a><span class="lineno"> 92</span>  std::enable_if_t<std::is_arithmetic_v<TScalar>, void>> {</div>
<div class="line"><a name="l00093"></a><span class="lineno"> 93</span>  <span class="keyword">static</span> Expected<Success> check(</div>
<div class="line"><a name="l00094"></a><span class="lineno"> 94</span>  <span class="keywordtype">bool</span> check_relative,</div>
<div class="line"><a name="l00095"></a><span class="lineno"> 95</span>  Eigen::Matrix<TScalar, kRows, kCols> <span class="keyword">const</span>& lhs,</div>
<div class="line"><a name="l00096"></a><span class="lineno"> 96</span>  <span class="keywordtype">char</span> <span class="keyword">const</span>* lhs_cstr,</div>
<div class="line"><a name="l00097"></a><span class="lineno"> 97</span>  Eigen::Matrix<TScalar, kRows, kCols> <span class="keyword">const</span>& rhs,</div>
<div class="line"><a name="l00098"></a><span class="lineno"> 98</span>  <span class="keywordtype">char</span> <span class="keyword">const</span>* rhs_cstr,</div>
<div class="line"><a name="l00099"></a><span class="lineno"> 99</span>  <span class="keywordtype">double</span> <span class="keyword">const</span>& thr) {</div>
<div class="line"><a name="l00100"></a><span class="lineno"> 100</span>  <span class="keywordtype">double</span> max_error = 0.0;</div>
<div class="line"><a name="l00101"></a><span class="lineno"> 101</span>  <span class="keywordtype">int</span> max_row_idx = -1;</div>
<div class="line"><a name="l00102"></a><span class="lineno"> 102</span>  <span class="keywordtype">int</span> max_col_idx = -1;</div>
<div class="line"><a name="l00103"></a><span class="lineno"> 103</span>  </div>
<div class="line"><a name="l00104"></a><span class="lineno"> 104</span>  <span class="keyword">auto</span> nearness_fn =</div>
<div class="line"><a name="l00105"></a><span class="lineno"> 105</span>  check_relative</div>
<div class="line"><a name="l00106"></a><span class="lineno"> 106</span>  ? [](<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y) { <span class="keywordflow">return</span> <a class="code" href="namespacefarm__ng.html#adf3d1d8a51cba7ea1287dd223e01fa35">relativeCloseness</a>(x, y); }</div>
<div class="line"><a name="l00107"></a><span class="lineno"> 107</span>  : [](<span class="keywordtype">double</span> x, <span class="keywordtype">double</span> y) { <span class="keywordflow">return</span> std::abs(x - y); };</div>
<div class="line"><a name="l00108"></a><span class="lineno"> 108</span>  </div>
<div class="line"><a name="l00109"></a><span class="lineno"> 109</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> c = 0; c < lhs.cols(); ++c) {</div>
<div class="line"><a name="l00110"></a><span class="lineno"> 110</span>  <span class="keywordflow">for</span> (<span class="keywordtype">int</span> r = 0; r < lhs.rows(); ++r) {</div>
<div class="line"><a name="l00111"></a><span class="lineno"> 111</span>  <span class="keywordtype">double</span> err = nearness_fn(lhs(r, c), rhs(r, c));</div>
<div class="line"><a name="l00112"></a><span class="lineno"> 112</span>  </div>
<div class="line"><a name="l00113"></a><span class="lineno"> 113</span>  <span class="keywordflow">if</span> (!(err <= max_error)) {</div>
<div class="line"><a name="l00114"></a><span class="lineno"> 114</span>  <span class="comment">// inverted comparison, so we also end up here if err or max_error</span></div>
<div class="line"><a name="l00115"></a><span class="lineno"> 115</span>  <span class="comment">// are NAN</span></div>
<div class="line"><a name="l00116"></a><span class="lineno"> 116</span>  max_error = err;</div>
<div class="line"><a name="l00117"></a><span class="lineno"> 117</span>  max_row_idx = r;</div>
<div class="line"><a name="l00118"></a><span class="lineno"> 118</span>  max_col_idx = c;</div>
<div class="line"><a name="l00119"></a><span class="lineno"> 119</span>  }</div>
<div class="line"><a name="l00120"></a><span class="lineno"> 120</span>  }</div>
<div class="line"><a name="l00121"></a><span class="lineno"> 121</span>  }</div>
<div class="line"><a name="l00122"></a><span class="lineno"> 122</span>  <span class="keywordflow">if</span> (max_error < thr) {</div>
<div class="line"><a name="l00123"></a><span class="lineno"> 123</span>  <span class="comment">// all errors below threshold</span></div>
<div class="line"><a name="l00124"></a><span class="lineno"> 124</span>  <span class="keywordflow">return</span> Success{};</div>
<div class="line"><a name="l00125"></a><span class="lineno"> 125</span>  }</div>
<div class="line"><a name="l00126"></a><span class="lineno"> 126</span>  <span class="keywordflow">return</span> <a class="code" href="expected_8h.html#a6dee105e19978afe3959a85843ed9575">FARM_UNEXPECTED</a>(</div>
<div class="line"><a name="l00127"></a><span class="lineno"> 127</span>  <span class="stringliteral">"Not true: {}[{}, {}] near {}[{}, {}]; has error of {} (thr: {})\n"</span></div>
<div class="line"><a name="l00128"></a><span class="lineno"> 128</span>  <span class="stringliteral">"LHS `{}` is:\n"</span></div>
<div class="line"><a name="l00129"></a><span class="lineno"> 129</span>  <span class="stringliteral">"{}\n\n"</span></div>
<div class="line"><a name="l00130"></a><span class="lineno"> 130</span>  <span class="stringliteral">"RHS `{}` is:\n"</span></div>
<div class="line"><a name="l00131"></a><span class="lineno"> 131</span>  <span class="stringliteral">"{}\n\n"</span>,</div>
<div class="line"><a name="l00132"></a><span class="lineno"> 132</span>  lhs_cstr,</div>
<div class="line"><a name="l00133"></a><span class="lineno"> 133</span>  max_row_idx,</div>
<div class="line"><a name="l00134"></a><span class="lineno"> 134</span>  max_col_idx,</div>
<div class="line"><a name="l00135"></a><span class="lineno"> 135</span>  rhs_cstr,</div>
<div class="line"><a name="l00136"></a><span class="lineno"> 136</span>  max_row_idx,</div>
<div class="line"><a name="l00137"></a><span class="lineno"> 137</span>  max_col_idx,</div>
<div class="line"><a name="l00138"></a><span class="lineno"> 138</span>  max_error,</div>
<div class="line"><a name="l00139"></a><span class="lineno"> 139</span>  thr,</div>
<div class="line"><a name="l00140"></a><span class="lineno"> 140</span>  lhs_cstr,</div>
<div class="line"><a name="l00141"></a><span class="lineno"> 141</span>  lhs,</div>
<div class="line"><a name="l00142"></a><span class="lineno"> 142</span>  rhs_cstr,</div>
<div class="line"><a name="l00143"></a><span class="lineno"> 143</span>  rhs);</div>
<div class="line"><a name="l00144"></a><span class="lineno"> 144</span>  }</div>
<div class="line"><a name="l00145"></a><span class="lineno"> 145</span> };</div>
<div class="line"><a name="l00146"></a><span class="lineno"> 146</span>  </div>
<div class="line"><a name="l00147"></a><span class="lineno"> 147</span> <span class="keyword">template</span> <<span class="keyword">class</span> TScalar, <span class="keyword">class</span> TScalar2></div>
<div class="line"><a name="l00148"></a><span class="lineno"> 148</span> <span class="keyword">inline</span> Expected<Success> checkAbsNear(</div>
<div class="line"><a name="l00149"></a><span class="lineno"> 149</span>  TScalar lhs,</div>
<div class="line"><a name="l00150"></a><span class="lineno"> 150</span>  <span class="keywordtype">char</span> <span class="keyword">const</span>* lhs_cstr,</div>
<div class="line"><a name="l00151"></a><span class="lineno"> 151</span>  TScalar2 rhs,</div>
<div class="line"><a name="l00152"></a><span class="lineno"> 152</span>  <span class="keywordtype">char</span> <span class="keyword">const</span>* rhs_cstr,</div>
<div class="line"><a name="l00153"></a><span class="lineno"> 153</span>  <span class="keywordtype">double</span> thr) {</div>
<div class="line"><a name="l00154"></a><span class="lineno"> 154</span>  <span class="keywordflow">return</span> CheckNear<TScalar, TScalar2>::check(</div>
<div class="line"><a name="l00155"></a><span class="lineno"> 155</span>  <span class="keyword">false</span>, lhs, lhs_cstr, rhs, rhs_cstr, thr);</div>
<div class="line"><a name="l00156"></a><span class="lineno"> 156</span> }</div>
<div class="line"><a name="l00157"></a><span class="lineno"> 157</span>  </div>
<div class="line"><a name="l00158"></a><span class="lineno"> 158</span> <span class="keyword">template</span> <<span class="keyword">class</span> TScalar, <span class="keyword">class</span> TScalar2></div>
<div class="line"><a name="l00159"></a><span class="lineno"> 159</span> <span class="keyword">inline</span> Expected<Success> checkRelativeNear(</div>
<div class="line"><a name="l00160"></a><span class="lineno"> 160</span>  TScalar lhs,</div>
<div class="line"><a name="l00161"></a><span class="lineno"> 161</span>  <span class="keywordtype">char</span> <span class="keyword">const</span>* lhs_cstr,</div>
<div class="line"><a name="l00162"></a><span class="lineno"> 162</span>  TScalar2 rhs,</div>
<div class="line"><a name="l00163"></a><span class="lineno"> 163</span>  <span class="keywordtype">char</span> <span class="keyword">const</span>* rhs_cstr,</div>
<div class="line"><a name="l00164"></a><span class="lineno"> 164</span>  <span class="keywordtype">double</span> thr) {</div>
<div class="line"><a name="l00165"></a><span class="lineno"> 165</span>  <span class="keywordflow">if</span> (!((thr >= 0.0) && (thr <= 1.0))) {</div>
<div class="line"><a name="l00166"></a><span class="lineno"> 166</span>  <a class="code" href="logger_8h.html#a5d87ddde121bc1542785d483725ef8d5">FARM_WARN</a>(</div>
<div class="line"><a name="l00167"></a><span class="lineno"> 167</span>  <span class="stringliteral">"The threshold of the WITHIN_REL macro shall be in [0.0, 1.0], but we "</span></div>
<div class="line"><a name="l00168"></a><span class="lineno"> 168</span>  <span class="stringliteral">"got `{}`."</span>,</div>
<div class="line"><a name="l00169"></a><span class="lineno"> 169</span>  thr);</div>
<div class="line"><a name="l00170"></a><span class="lineno"> 170</span>  }</div>
<div class="line"><a name="l00171"></a><span class="lineno"> 171</span>  <span class="keywordflow">return</span> CheckNear<TScalar, TScalar2>::check(</div>
<div class="line"><a name="l00172"></a><span class="lineno"> 172</span>  <span class="keyword">true</span>, lhs, lhs_cstr, rhs, rhs_cstr, thr);</div>
<div class="line"><a name="l00173"></a><span class="lineno"> 173</span> }</div>
<div class="line"><a name="l00174"></a><span class="lineno"> 174</span> } <span class="comment">// namespace details</span></div>
<div class="line"><a name="l00175"></a><span class="lineno"> 175</span> } <span class="comment">// namespace farm_ng</span></div>
<div class="line"><a name="l00176"></a><span class="lineno"> 176</span> <span class="comment"></span> </div>
<div class="line"><a name="l00177"></a><span class="lineno"> 177</span> <span class="comment">/// If it is false that `lhs` is near `rhs` according to threshold `thr`, print</span></div>
<div class="line"><a name="l00178"></a><span class="lineno"> 178</span> <span class="comment">/// formatted error message and then panic.</span></div>
<div class="line"><a name="l00179"></a><span class="lineno"> 179</span> <span class="comment">///</span></div>
<div class="line"><a name="l00180"></a><span class="lineno"> 180</span> <span class="comment">/// `lhs` and `rhs` are near, if relativeCloseness(lhs, rhs) < thr.</span></div>
<div class="line"><a name="l00181"></a><span class="lineno"> 181</span> <span class="comment">///</span></div>
<div class="line"><a name="l00182"></a><span class="lineno"> 182</span> <span class="comment">/// The threshold `thr` shall be in [0.0, 1.0].</span></div>
<div class="line"><a name="l00183"></a><span class="lineno"> 183</span> <span class="comment">///</span></div>
<div class="line"><a name="l00184"></a><span class="lineno"> 184</span> <span class="comment">/// A threshold ~0.0 implies that lhs is near rhs, and ~1.0 implies the lhs is</span></div>
<div class="line"><a name="l00185"></a><span class="lineno"> 185</span> <span class="comment">/// NOT near rhs.</span></div>
<div class="line"><a name="l00186"></a><span class="lineno"><a class="line" href="assert__within_8h.html#ad3dd05f53da7884149d019e7d9558c6d"> 186</a></span> <span class="comment"></span><span class="preprocessor">#define FARM_ASSERT_WITHIN_REL(lhs, rhs, thr, ...) \</span></div>
<div class="line"><a name="l00187"></a><span class="lineno"> 187</span> <span class="preprocessor"> do { \</span></div>
<div class="line"><a name="l00188"></a><span class="lineno"> 188</span> <span class="preprocessor"> Expected<Success> status = \</span></div>
<div class="line"><a name="l00189"></a><span class="lineno"> 189</span> <span class="preprocessor"> ::farm_ng::details::checkRelativeNear(lhs, #lhs, rhs, #rhs, thr); \</span></div>
<div class="line"><a name="l00190"></a><span class="lineno"> 190</span> <span class="preprocessor"> if (!status) { \</span></div>
<div class="line"><a name="l00191"></a><span class="lineno"> 191</span> <span class="preprocessor"> FARM_PANIC( \</span></div>
<div class="line"><a name="l00192"></a><span class="lineno"> 192</span> <span class="preprocessor"> "FARM_ASSERT_WITHIN_REL failed: {}\n" \</span></div>
<div class="line"><a name="l00193"></a><span class="lineno"> 193</span> <span class="preprocessor"> "Not true: `{}` near {}; (thr: {})\n" \</span></div>
<div class="line"><a name="l00194"></a><span class="lineno"> 194</span> <span class="preprocessor"> "{}", \</span></div>
<div class="line"><a name="l00195"></a><span class="lineno"> 195</span> <span class="preprocessor"> #lhs, \</span></div>
<div class="line"><a name="l00196"></a><span class="lineno"> 196</span> <span class="preprocessor"> #rhs, \</span></div>
<div class="line"><a name="l00197"></a><span class="lineno"> 197</span> <span class="preprocessor"> #thr, \</span></div>
<div class="line"><a name="l00198"></a><span class="lineno"> 198</span> <span class="preprocessor"> status.error(), \</span></div>
<div class="line"><a name="l00199"></a><span class="lineno"> 199</span> <span class="preprocessor"> FARM_FORMAT(__VA_ARGS__)); \</span></div>
<div class="line"><a name="l00200"></a><span class="lineno"> 200</span> <span class="preprocessor"> } \</span></div>
<div class="line"><a name="l00201"></a><span class="lineno"> 201</span> <span class="preprocessor"> } while (false)</span></div>
<div class="line"><a name="l00202"></a><span class="lineno"> 202</span> <span class="comment"></span> </div>
<div class="line"><a name="l00203"></a><span class="lineno"> 203</span> <span class="comment">/// If it is false that `lhs` is near `rhs` according to threshold</span></div>
<div class="line"><a name="l00204"></a><span class="lineno"> 204</span> <span class="comment">/// `thr`, print formatted error message and then panic.</span></div>
<div class="line"><a name="l00205"></a><span class="lineno"> 205</span> <span class="comment">///</span></div>
<div class="line"><a name="l00206"></a><span class="lineno"> 206</span> <span class="comment">/// `lhs` and `rhs` are near, if std::abs(lhs - rhs) < thr.</span></div>
<div class="line"><a name="l00207"></a><span class="lineno"><a class="line" href="assert__within_8h.html#a53707ec96d3dd1a43a87054fb85993ea"> 207</a></span> <span class="comment"></span><span class="preprocessor">#define FARM_ASSERT_WITHIN_ABS(lhs, rhs, thr, ...) \</span></div>
<div class="line"><a name="l00208"></a><span class="lineno"> 208</span> <span class="preprocessor"> do { \</span></div>
<div class="line"><a name="l00209"></a><span class="lineno"> 209</span> <span class="preprocessor"> Expected<Success> status = \</span></div>
<div class="line"><a name="l00210"></a><span class="lineno"> 210</span> <span class="preprocessor"> ::farm_ng::details::checkAbsNear(lhs, #lhs, rhs, #rhs, thr); \</span></div>
<div class="line"><a name="l00211"></a><span class="lineno"> 211</span> <span class="preprocessor"> if (!status) { \</span></div>
<div class="line"><a name="l00212"></a><span class="lineno"> 212</span> <span class="preprocessor"> FARM_PANIC( \</span></div>
<div class="line"><a name="l00213"></a><span class="lineno"> 213</span> <span class="preprocessor"> "FARM_ASSERT_WITHIN_ABS failed: {}\n" \</span></div>
<div class="line"><a name="l00214"></a><span class="lineno"> 214</span> <span class="preprocessor"> "Not true: `{}` near {}; (thr: {})\n" \</span></div>
<div class="line"><a name="l00215"></a><span class="lineno"> 215</span> <span class="preprocessor"> "{}", \</span></div>
<div class="line"><a name="l00216"></a><span class="lineno"> 216</span> <span class="preprocessor"> #lhs, \</span></div>
<div class="line"><a name="l00217"></a><span class="lineno"> 217</span> <span class="preprocessor"> #rhs, \</span></div>
<div class="line"><a name="l00218"></a><span class="lineno"> 218</span> <span class="preprocessor"> #thr, \</span></div>
<div class="line"><a name="l00219"></a><span class="lineno"> 219</span> <span class="preprocessor"> status.error(), \</span></div>
<div class="line"><a name="l00220"></a><span class="lineno"> 220</span> <span class="preprocessor"> FARM_FORMAT(__VA_ARGS__)); \</span></div>
<div class="line"><a name="l00221"></a><span class="lineno"> 221</span> <span class="preprocessor"> } \</span></div>
<div class="line"><a name="l00222"></a><span class="lineno"> 222</span> <span class="preprocessor"> } while (false)</span></div>
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<div class="ttc" id="anamespacefarm__ng_html"><div class="ttname"><a href="namespacefarm__ng.html">farm_ng</a></div><div class="ttdef"><b>Definition:</b> assert_within.h:21</div></div>
<div class="ttc" id="anamespacefarm__ng_html_adf3d1d8a51cba7ea1287dd223e01fa35"><div class="ttname"><a href="namespacefarm__ng.html#adf3d1d8a51cba7ea1287dd223e01fa35">farm_ng::relativeCloseness</a></div><div class="ttdeci">double relativeCloseness(double x, double y)</div><div class="ttdoc">Checks whether two floating point numbers x, y are close to each other.</div><div class="ttdef"><b>Definition:</b> assert_within.h:33</div></div>
<div class="ttc" id="anamespacesophus_html_a83cdb3670cd3c86a8865752b33e0f188"><div class="ttname"><a href="namespacesophus.html#a83cdb3670cd3c86a8865752b33e0f188">sophus::min</a></div><div class="ttdeci">auto min(TPoint const &a, TPoint const &b) -> TPoint</div><div class="ttdef"><b>Definition:</b> vector_space.h:104</div></div>
<div class="ttc" id="aexpected_8h_html"><div class="ttname"><a href="expected_8h.html">expected.h</a></div></div>
<div class="ttc" id="alogger_8h_html_a5d87ddde121bc1542785d483725ef8d5"><div class="ttname"><a href="logger_8h.html#a5d87ddde121bc1542785d483725ef8d5">FARM_WARN</a></div><div class="ttdeci">#define FARM_WARN(...)</div><div class="ttdoc">More significant information with high signal to noise. Typically to communicate an usual but valid s...</div><div class="ttdef"><b>Definition:</b> logger.h:197</div></div>
<div class="ttc" id="aexpected_8h_html_a6dee105e19978afe3959a85843ed9575"><div class="ttname"><a href="expected_8h.html#a6dee105e19978afe3959a85843ed9575">FARM_UNEXPECTED</a></div><div class="ttdeci">#define FARM_UNEXPECTED(cstr,...)</div><div class="ttdef"><b>Definition:</b> expected.h:88</div></div>
<div class="ttc" id="anamespacesophus_html_a7101763b5d5f82650cd235708de14ada"><div class="ttname"><a href="namespacesophus.html#a7101763b5d5f82650cd235708de14ada">sophus::max</a></div><div class="ttdeci">auto max(TPoint const &a, TPoint const &b) -> TPoint</div><div class="ttdef"><b>Definition:</b> vector_space.h:114</div></div>
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