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matrix: update submodule (improves matrix inversion)

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This commit is contained in:
Beat Küng
2021-09-05 23:18:28 -04:00
committed by Daniel Agar
parent 73ab153fe0
commit 291ca246d2
4 changed files with 10 additions and 7 deletions
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src/systemcmds/microbench/test_microbench_matrix.cpp
+2 -2
View File
@@ -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;
}
src/systemcmds/tests/test_matrix.cpp
+6 -3
View File
@@ -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;