Added runge kutta integration.

test/CMakeLists.txt

@@ -11,6 +11,7 @@ set(tests
 	vector3
 	attitude
 	filter
+	integration
 	squareMatrix
 	)
 

test/attitude.cpp

@@ -29,7 +29,7 @@ int main()
 
     // euler default ctor
     Eulerf e;
-    Eulerf e_zero = zero<float, 3, 1>();
+    Eulerf e_zero = zeros<float, 3, 1>();
     assert(e == e_zero);
     assert(e == e);
 

test/integration.cpp

@@ -0,0 +1,26 @@
+#include <assert.h>
+#include <stdio.h>
+
+#include <matrix/integration.hpp>
+
+using namespace matrix;
+
+Vector<float, 6> f(float t, Vector<float, 6> y);
+
+Vector<float, 6> f(float t, Vector<float, 6> y) {
+    return ones<float, 6, 1>();
+}
+
+int main()
+{
+    Vector<float, 6> y = ones<float, 6, 1>();
+    float h = 1;
+    float t = 1;
+    y.T().print();
+    integrate_rk4(f, y, t, h);
+    y.T().print();
+    assert(y == (ones<float, 6, 1>()*2));
+    return 0;
+}
+
+/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */

test/inverse.cpp

@@ -40,7 +40,7 @@ int main()
         assert(A_large == A_large_I);
     }
 
-    SquareMatrix<float, 3> zero_test = zero<float, 3, 3>();
+    SquareMatrix<float, 3> zero_test = zeros<float, 3, 3>();
     inv(zero_test);
 
     return 0;

test/matrixAssignment.cpp

@@ -65,6 +65,7 @@ int main()
 
     Matrix3f m4(data);
 
+    assert(-m4 == m4*(-1));
 
     m4.swapCols(0, 2);
     assert(m4 == Matrix3f(data_col_02_swap));
@@ -72,6 +73,11 @@ int main()
     m4.swapRows(0, 2);
     assert(m4 == Matrix3f(data_row_02_swap));
     assert(fabs(m4.min() - 1) < 1e-5);
+
+    Scalar<float> s;
+    s = 1;
+    assert(fabs(s - 1) < 1e-5);
+
     return 0;
 }
 

test/vector.cpp

@@ -15,7 +15,6 @@ int main()
     assert(fabs(v1.norm() - 7.416198487095663f) < 1e-5);
     Vector<float, 5> v2(data2);
     assert(fabs(v1.dot(v2) - 130.0f) < 1e-5);
-    assert(fabs(v1*v2 - 130.0f) < 1e-5);
     v2.normalize();
     Vector<float, 5> v3(v2);
     assert(v2 == v3);