function

Tests.RuleChecks.so3RuleResidualsSweep

Worst |rule - central difference| over a whole list of rotation magnitudes

A per-rule maximum over a magnitude list, so that a budget can be stated once per rule instead of once per rule and magnitude. The list is the caller's, which is what lets one model sweep the whole range densely while still naming individual magnitudes it wants reported separately.

Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default	Description
input	`angleScales`	`Real`	`[:]`	Rotation magnitudes to sweep
input	`step`	`Real`		Central-difference step
input	`trials`	`Integer`		Randomized points per magnitude
output	`worst`	`Real`	`[7]`	The seven rules of so3RuleResiduals, maximised over the sweep

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

function so3RuleResidualsSweep
  "Worst |rule - central difference| over a whole list of rotation magnitudes"
  input Real angleScales[:] "Rotation magnitudes to sweep";
  input Real step "Central-difference step";
  input Integer trials "Randomized points per magnitude";
  output Real worst[7]
    "The seven rules of so3RuleResiduals, maximised over the sweep";
protected
  Real row[7];
  // Scalar accumulators rather than accumulation into the output array: see
  // the note in so3RuleResiduals.
  Real worstExponential;
  Real worstLogarithm;
  Real worstProductLeft;
  Real worstProductRight;
  Real worstInverse;
  Real worstRotateRotation;
  Real worstRotateVector;
algorithm
  worstExponential := 0.0;
  worstLogarithm := 0.0;
  worstProductLeft := 0.0;
  worstProductRight := 0.0;
  worstInverse := 0.0;
  worstRotateRotation := 0.0;
  worstRotateVector := 0.0;
  for i in 1:size(angleScales, 1) loop
    row := Tests.RuleChecks.so3RuleResiduals(angleScales[i], step, trials);
    worstExponential := max(worstExponential, row[1]);
    worstLogarithm := max(worstLogarithm, row[2]);
    worstProductLeft := max(worstProductLeft, row[3]);
    worstProductRight := max(worstProductRight, row[4]);
    worstInverse := max(worstInverse, row[5]);
    worstRotateRotation := max(worstRotateRotation, row[6]);
    worstRotateVector := max(worstRotateVector, row[7]);
  end for;
  worst := {worstExponential, worstLogarithm, worstProductLeft,
    worstProductRight, worstInverse, worstRotateRotation, worstRotateVector};
  annotation(Documentation(info="<html>
    <p>A per-rule maximum over a magnitude list, so that a budget can be stated
    once per rule instead of once per rule and magnitude. The list is the
    caller's, which is what lets one model sweep the whole range densely while
    still naming individual magnitudes it wants reported separately.</p>
  </html>"));
end so3RuleResidualsSweep;