🚨 Fix tests related to random

Author: ronisbr

Project.toml

@@ -28,6 +28,7 @@ LinearAlgebra = "1.6"
 Mooncake = "0.4"
 Printf = "1.6"
 Random = "1.6"
+StableRNGs = "1"
 StaticArrays = "1"
 Test = "1.6"
 Zygote = "0.6"
@@ -37,7 +38,8 @@ julia = "1.10, 1.11"
 DifferentiationInterface = "a0c0ee7d-e4b9-4e03-894e-1c5f64a51d63"
 FiniteDiff = "6a86dc24-6348-571c-b903-95158fe2bd41"
 Mooncake = "da2b9cff-9c12-43a0-ae48-6db2b0edb7d6"
+StableRNGs = "860ef19b-820b-49d6-a774-d7a799459cd3"
 Test = "8dfed614-e22c-5e08-85e1-65c5234f0b40"
 
 [targets]
-test = ["Test", "DifferentiationInterface", "FiniteDiff", "Mooncake", "Zygote"]
+test = ["Test", "DifferentiationInterface", "FiniteDiff", "Mooncake", "StableRNGs", "Zygote"]

test/random.jl

@@ -4,127 +4,135 @@
 #
 ############################################################################################
 
+using StableRNGs
+
+# Julia random number generator can change its output with the same seed accross minor
+# versions. Hence, we need to use StableRNGs.jl to ensure that the tests are consistent. For
+# more information, see:
+#
+#   https://docs.julialang.org/en/v1/stdlib/Random/#Reproducibility
+
 # == File: ./src/random.jl =================================================================
 
 @testset "DCM (Float64)" begin
     D_exp = DCM(
-         0.1770772447942165,
-        -0.24937398754945297,
-         0.9520799670772275,
-        -0.16371156336807055,
-        -0.9613536278168439,
-        -0.22135430039413143,
-         0.9704855348719379,
-        -0.11666969022448989,
-        -0.21105925705178208
+        -0.9855423399595813,
+         0.1610947375575752,
+        -0.05248601412042554,
+         0.13225259369505987,
+         0.9250801678356908,
+         0.35599990805900494,
+         0.10590348251083596,
+         0.3439115709137256,
+        -0.9330108701316029,
     )
 
-    D = rand(MersenneTwister(1986), DCM)
+    D = rand(StableRNG(1986), DCM)
     @test D ≈ D_exp atol = 1e-15
 
-    D = rand(MersenneTwister(1986), DCM{Float64})
+    D = rand(StableRNG(1986), DCM{Float64})
     @test D ≈ D_exp atol = 1e-15
 end
 
 @testset "DCM (Float32)" begin
     D_exp = DCM(
-         0.9071183f0,
-        -0.38511035f0,
-         0.1697833f0,
-        -0.18077055f0,
-         0.0077917147f0,
-         0.98349446f0,
-        -0.38007677f0,
-        -0.9228377f0,
-        -0.06254859f0
+         0.13128565f0,
+         0.6157909f0,
+         0.77689487f0,
+        -0.5353275f0,
+         0.7036309f0,
+        -0.4672559f0,
+        -0.83437914f0,
+        -0.35454917f0,
+         0.4220264f0,
     )
 
-    D = rand(MersenneTwister(1986), DCM{Float32})
+    D = rand(StableRNG(1986), DCM{Float32})
 
     @test D ≈ D_exp atol = 1e-15
 end
 
 @testset "Euler Angle and Axis (Float64)" begin
     aa_exp = EulerAngleAxis(
-        3.0732832539795845,
+        3.0607810768487105,
         @SVector [
-             0.7668495688612252,
-            -0.13482690249452656,
-             0.6275057331220841
+            -0.0748748188948659,
+            -0.9810600691052008,
+            -0.17864742456234697,
         ]
     )
 
-    aa = rand(MersenneTwister(1986), EulerAngleAxis)
+    aa = rand(StableRNG(1986), EulerAngleAxis)
     @test aa ≈ aa_exp atol = 1e-15
 
-    aa = rand(MersenneTwister(1986), EulerAngleAxis{Float64})
+    aa = rand(StableRNG(1986), EulerAngleAxis{Float64})
     @test aa ≈ aa_exp atol = 1e-15
 end
 
 @testset "Euler Angle and Axis (Float32)" begin
     aa_exp = EulerAngleAxis(
-        1.6446829f0,
+        1.4419688f0,
         @SVector [
-            -0.9557738f0,
-             0.2756822f0,
-             0.102449425f0
+             0.056824237f0,
+             0.812369f0,
+            -0.5803686f0,
         ]
     )
 
-    aa = rand(MersenneTwister(1986), EulerAngleAxis{Float32})
+    aa = rand(StableRNG(1986), EulerAngleAxis{Float32})
     @test aa ≈ aa_exp atol = 1e-15
 end
 
 @testset "Euler Angles (Float64)" begin
     ea_exp = EulerAngles(
-        2.5852880822263606,
-        3.1861195131389626,
-        2.9299487570635576,
-        :YXY
+        6.237765228608508,
+        2.646507063149075,
+        4.53226625968865,
+        :YZY
     )
 
-    ea = rand(MersenneTwister(1986), EulerAngles)
+    ea = rand(StableRNG(1986), EulerAngles)
     @test ea ≈ ea_exp atol = 1e-15
 
-    ea = rand(MersenneTwister(1986), EulerAngles{Float64})
+    ea = rand(StableRNG(1986), EulerAngles{Float64})
     @test ea ≈ ea_exp atol = 1e-15
 end
 
 @testset "Euler Angles (Float32)" begin
     ea_exp = EulerAngles(
-        0.29179642f0,
-        5.512145f0,
-        4.3565836f0,
-        :YXY
+        2.7291467f0,
+        1.5209f0,
+        2.1911314f0,
+        :YZY
     )
 
-    ea = rand(MersenneTwister(1986), EulerAngles{Float32})
+    ea = rand(StableRNG(1986), EulerAngles{Float32})
     @test ea ≈ ea_exp atol = 1e-15
 end
 
 @testset "Quaternion (Float64)" begin
     q_exp = Quaternion(
-        -0.03414805970179898,
-        -0.7664023306434491,
-         0.1347482694144174,
-        -0.6271397623279131
+         0.04039479466622753,
+        -0.07481370585716751,
+        -0.9802593251184702,
+        -0.17850161203213802,
     )
 
-    q = rand(MersenneTwister(1986), Quaternion)
+    q = rand(StableRNG(1986), Quaternion)
     @test q ≈ q_exp atol = 1e-15
 
-    q = rand(MersenneTwister(1986), Quaternion{Float64})
+    q = rand(StableRNG(1986), Quaternion{Float64})
     @test q ≈ q_exp atol = 1e-15
 end
 
 @testset "Quaternion (Float32)" begin
     q_exp = Quaternion(
-        -0.6805074f0,
-         0.7003348f0,
-        -0.2020037f0,
-        -0.07506891f0
+         0.7511563f0,
+         0.037511066f0,
+         0.5362646f0,
+        -0.38311547f0,
     )
 
-    q = rand(MersenneTwister(1986), Quaternion{Float32})
+    q = rand(StableRNG(1986), Quaternion{Float32})
     @test q ≈ q_exp atol = 1e-15
 end