From 291ca246d21ee5694b16615bb1d0df3748466225 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Beat=20K=C3=BCng?= <beat-kueng@gmx.net>
Date: Tue, 31 Aug 2021 15:21:21 +0200
Subject: [PATCH] matrix: update submodule (improves matrix inversion)

---
 src/lib/matrix                                           | 2 +-
 .../ControlAllocation/ControlAllocationPseudoInverse.cpp | 2 +-
 src/systemcmds/microbench/test_microbench_matrix.cpp     | 4 ++--
 src/systemcmds/tests/test_matrix.cpp                     | 9 ++++++---
 4 files changed, 10 insertions(+), 7 deletions(-)

diff --git a/src/lib/matrix b/src/lib/matrix
index 3d1c9b988d..007a7f78ae 160000
--- a/src/lib/matrix
+++ b/src/lib/matrix
@@ -1 +1 @@
-Subproject commit 3d1c9b988dff1d95f36cdd1df3e84d7a2365501c
+Subproject commit 007a7f78ae014499ecb18d8c92a312fc5a70899b
diff --git a/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp b/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp
index b613e77c73..bf26a028bd 100644
--- a/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp
+++ b/src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp
@@ -54,7 +54,7 @@ void
 ControlAllocationPseudoInverse::updatePseudoInverse()
 {
 	if (_mix_update_needed) {
-		_mix = matrix::geninv(_effectiveness);
+		matrix::geninv(_effectiveness, _mix);
 		_mix_update_needed = false;
 	}
 }
diff --git a/src/systemcmds/microbench/test_microbench_matrix.cpp b/src/systemcmds/microbench/test_microbench_matrix.cpp
index 932a70e841..b6a2f1fe63 100644
--- a/src/systemcmds/microbench/test_microbench_matrix.cpp
+++ b/src/systemcmds/microbench/test_microbench_matrix.cpp
@@ -170,8 +170,8 @@ bool MicroBenchMatrix::time_matrix_dcm()
 
 bool MicroBenchMatrix::time_matrix_pseduo_inverse()
 {
-	PERF("matrix 6x16 pseudo inverse (all non-zero columns)", A16 = matrix::geninv(B16), 100);
-	PERF("matrix 6x16 pseudo inverse (4 non-zero columns)", A16 = matrix::geninv(B16_4), 100);
+	PERF("matrix 6x16 pseudo inverse (all non-zero columns)", matrix::geninv(B16, A16), 100);
+	PERF("matrix 6x16 pseudo inverse (4 non-zero columns)", matrix::geninv(B16_4, A16), 100);
 	return true;
 }
 
diff --git a/src/systemcmds/tests/test_matrix.cpp b/src/systemcmds/tests/test_matrix.cpp
index b3b8021274..b7bc519040 100644
--- a/src/systemcmds/tests/test_matrix.cpp
+++ b/src/systemcmds/tests/test_matrix.cpp
@@ -776,7 +776,8 @@ bool MatrixTest::pseudoInverseTests()
 				};
 
 	Matrix<float, 3, 4> A0(data0);
-	Matrix<float, 4, 3> A0_I = geninv(A0);
+	Matrix<float, 4, 3> A0_I;
+	geninv(A0, A0_I);
 	Matrix<float, 4, 3> A0_I_check(data0_check);
 
 	ut_test((A0_I - A0_I_check).abs().max() < 1e-5);
@@ -795,7 +796,8 @@ bool MatrixTest::pseudoInverseTests()
 				};
 
 	Matrix<float, 4, 3> A1(data1);
-	Matrix<float, 3, 4> A1_I = geninv(A1);
+	Matrix<float, 3, 4> A1_I;
+	geninv(A1, A1_I);
 	Matrix<float, 3, 4> A1_I_check(data1_check);
 
 	ut_test((A1_I - A1_I_check).abs().max() < 1e-5);
@@ -845,7 +847,8 @@ bool MatrixTest::pseudoInverseTests()
 		{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}
 	};
 	Matrix<float, 16, 6> A_check(A_quad_w);
-	Matrix<float, 16, 6> A = geninv(B);
+	Matrix<float, 16, 6> A;
+	geninv(B, A);
 	ut_test((A - A_check).abs().max() < 1e-5);
 
 	return true;