SparseVector (#140)

* Add SparseVector

temp

* Add gtest

* Some reworking of the sparse concept

* Change type of M from int to size_t

* Add const modifier

* Add needed declaration for accessing elements of _indices

* Add norm_squared, norm, longerThan

* Add test for all sparse vector functions

* Add missing const to slice's norm_squared, norm and longerThan

* Construction from Vector<M> and carray[N]

* try to fix ci

Co-authored-by: Julian Kent <julian@auterion.com>

test/CMakeLists.txt

@@ -1,3 +1,5 @@
+include(gtest.cmake)
+
 set(tests
     setIdentity
     inverse
@@ -13,6 +15,7 @@ set(tests
     attitude
     filter
     integration
+    sparseVector
     squareMatrix
     helper
     hatvee
@@ -30,6 +33,7 @@ foreach(test_name ${tests})
     add_test(test_${test_name} ${test_name})
     add_dependencies(test_build ${test_name})
 endforeach()
+target_link_libraries(sparseVector gtest_main)
 
 if (${CMAKE_BUILD_TYPE} STREQUAL "Coverage")
 

test/CMakeLists.txt.in

@@ -0,0 +1,18 @@
+cmake_minimum_required(VERSION 2.8.4)
+
+project(googletest-download NONE)
+
+include(ExternalProject)
+ExternalProject_Add(googletest
+	URL https://github.com/google/googletest/archive/8b6d3f9c4a774bef3081195d422993323b6bb2e0.zip
+	SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/googletest-src"
+	BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/googletest-build"
+	CONFIGURE_COMMAND ""
+	BUILD_COMMAND ""
+	INSTALL_COMMAND ""
+	TEST_COMMAND ""
+	# Wrap download, configure and build steps in a script to log output
+    LOG_DOWNLOAD ON
+    LOG_CONFIGURE ON
+    LOG_BUILD ON
+)

test/gtest.cmake

@@ -0,0 +1,12 @@
+set_directory_properties(PROPERTIES COMPILE_OPTIONS "")
+
+# Download and unpack googletest at configure time
+configure_file(${CMAKE_CURRENT_LIST_DIR}/CMakeLists.txt.in googletest-download/CMakeLists.txt)
+execute_process(COMMAND ${CMAKE_COMMAND} -G "${CMAKE_GENERATOR}" . RESULT_VARIABLE result1 WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/googletest-download)
+execute_process(COMMAND ${CMAKE_COMMAND} --build . RESULT_VARIABLE result2 WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/googletest-download)
+if(result1 OR result2)
+	message(FATAL_ERROR "Preparing googletest failed: ${result1} ${result2}")
+endif()
+
+# Add googletest, defines gtest and gtest_main targets
+add_subdirectory(${CMAKE_CURRENT_BINARY_DIR}/googletest-src ${CMAKE_CURRENT_BINARY_DIR}/googletest-build EXCLUDE_FROM_ALL)

test/sparseVector.cpp

@@ -0,0 +1,98 @@
+#include <matrix/math.hpp>
+#include <gtest/gtest.h>
+
+using namespace matrix;
+
+TEST(sparseVectorTest, defaultConstruction) {
+    SparseVectorf<24, 4, 6> a;
+    EXPECT_EQ(a.non_zeros(), 2);
+    EXPECT_EQ(a.index(0), 4);
+    EXPECT_EQ(a.index(1), 6);
+    a.at<4>() = 1.f;
+    a.at<6>() = 2.f;
+}
+
+TEST(sparseVectorTest, initializationWithData) {
+    const float data[3] = {1.f, 2.f, 3.f};
+    SparseVectorf<24, 4, 6, 22> a(data);
+    EXPECT_EQ(a.non_zeros(), 3);
+    EXPECT_EQ(a.index(0), 4);
+    EXPECT_EQ(a.index(1), 6);
+    EXPECT_EQ(a.index(2), 22);
+    EXPECT_FLOAT_EQ(a.at<4>(), data[0]);
+    EXPECT_FLOAT_EQ(a.at<6>(), data[1]);
+    EXPECT_FLOAT_EQ(a.at<22>(), data[2]);
+}
+
+TEST(sparseVectorTest, initialisationFromVector) {
+    const Vector3f vec(1.f, 2.f, 3.f);
+    const SparseVectorf<3, 0, 2> a(vec);
+    EXPECT_FLOAT_EQ(a.at<0>(), vec(0));
+    EXPECT_FLOAT_EQ(a.at<2>(), vec(2));
+}
+
+TEST(sparseVectorTest, setZero) {
+    const float data[3] = {1.f, 2.f, 3.f};
+    SparseVectorf<24, 4, 6, 22> a(data);
+    a.setZero();
+    EXPECT_FLOAT_EQ(a.at<4>(), 0.f);
+    EXPECT_FLOAT_EQ(a.at<6>(), 0.f);
+    EXPECT_FLOAT_EQ(a.at<22>(), 0.f);
+}
+
+TEST(sparseVectorTest, additionWithDenseVector) {
+    Vector<float, 4> dense_vec;
+    dense_vec.setAll(1.f);
+    const float data[3] = {1.f, 2.f, 3.f};
+    const SparseVectorf<4, 1, 2, 3> sparse_vec(data);
+    const Vector<float, 4> res = sparse_vec + dense_vec;
+    EXPECT_FLOAT_EQ(res(0), 1.f);
+    EXPECT_FLOAT_EQ(res(1), 2.f);
+    EXPECT_FLOAT_EQ(res(2), 3.f);
+    EXPECT_FLOAT_EQ(res(3), 4.f);
+}
+
+TEST(sparseVectorTest, addScalar) {
+    const float data[3] = {1.f, 2.f, 3.f};
+    SparseVectorf<4, 1, 2, 3> sparse_vec(data);
+    sparse_vec += 2.f;
+    EXPECT_FLOAT_EQ(sparse_vec.at<1>(), 3.f);
+    EXPECT_FLOAT_EQ(sparse_vec.at<2>(), 4.f);
+    EXPECT_FLOAT_EQ(sparse_vec.at<3>(), 5.f);
+}
+
+TEST(sparseVectorTest, dotProductWithDenseVector) {
+    Vector<float, 4> dense_vec;
+    dense_vec.setAll(3.f);
+    const float data[3] = {1.f, 2.f, 3.f};
+    const SparseVectorf<4, 1, 2, 3> sparse_vec(data);
+    float res = sparse_vec.dot(dense_vec);
+    EXPECT_FLOAT_EQ(res, 18.f);
+}
+
+TEST(sparseVectorTest, multiplicationWithDenseMatrix) {
+    Matrix<float, 2, 3> dense_matrix;
+    dense_matrix.setAll(2.f);
+    dense_matrix(1, 1) = 3.f;
+    const Vector3f dense_vec(0.f, 1.f, 5.f);
+    const SparseVectorf<3, 1, 2> sparse_vec(dense_vec);
+    const Vector<float, 2> res_sparse = dense_matrix * sparse_vec;
+    const Vector<float, 2> res_dense = dense_matrix * dense_vec;
+    EXPECT_TRUE(isEqual(res_dense, res_sparse));
+}
+
+TEST(sparseVectorTest, norms) {
+    const float data[2] = {3.f, 4.f};
+    const SparseVectorf<4, 1, 3> sparse_vec(data);
+    EXPECT_FLOAT_EQ(sparse_vec.norm_squared(), 25.f);
+    EXPECT_FLOAT_EQ(sparse_vec.norm(), 5.f);
+    EXPECT_TRUE(sparse_vec.longerThan(4.5f));
+    EXPECT_FALSE(sparse_vec.longerThan(5.5f));
+}
+
+
+int main(int argc, char **argv) {
+    testing::InitGoogleTest(&argc, argv);
+    std::cout << "Run SparseVector tests" << std::endl;
+    return RUN_ALL_TESTS();
+}