Move the math library pieces out of systemlib into mathlib

apps/mathlib/math/Matrix.cpp

@@ -0,0 +1,193 @@
+/****************************************************************************
+ *
+ *   Copyright (C) 2012 PX4 Development Team. All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name PX4 nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file Matrix.cpp
+ *
+ * matrix code
+ */
+
+#include "test/test.hpp"
+#include <math.h>
+
+#include "Matrix.hpp"
+
+namespace math
+{
+
+static const float data_testA[] = {
+	1, 2, 3,
+	4, 5, 6
+};
+static Matrix testA(2, 3, data_testA);
+
+static const float data_testB[] = {
+	0, 1, 3,
+	7, -1, 2
+};
+static Matrix testB(2, 3, data_testB);
+
+static const float data_testC[] = {
+	0, 1,
+	2, 1,
+	3, 2
+};
+static Matrix testC(3, 2, data_testC);
+
+static const float data_testD[] = {
+	0, 1, 2,
+	2, 1, 4,
+	5, 2, 0
+};
+static Matrix testD(3, 3, data_testD);
+
+static const float data_testE[] = {
+	1, -1, 2,
+	0, 2, 3,
+	2, -1, 1
+};
+static Matrix testE(3, 3, data_testE);
+
+static const float data_testF[] = {
+	3.777e006f, 2.915e007f, 0.000e000f,
+	2.938e007f, 2.267e008f, 0.000e000f,
+	0.000e000f, 0.000e000f, 6.033e008f
+};
+static Matrix testF(3, 3, data_testF);
+
+int __EXPORT matrixTest()
+{
+	matrixAddTest();
+	matrixSubTest();
+	matrixMultTest();
+	matrixInvTest();
+	matrixDivTest();
+	return 0;
+}
+
+int matrixAddTest()
+{
+	printf("Test Matrix Add\t\t: ");
+	Matrix r = testA + testB;
+	float data_test[] = {
+		1.0f, 3.0f, 6.0f,
+		11.0f, 4.0f, 8.0f
+	};
+	ASSERT(matrixEqual(Matrix(2, 3, data_test), r));
+	printf("PASS\n");
+	return 0;
+}
+
+int matrixSubTest()
+{
+	printf("Test Matrix Sub\t\t: ");
+	Matrix r = testA - testB;
+	float data_test[] = {
+		1.0f, 1.0f, 0.0f,
+		-3.0f, 6.0f, 4.0f
+	};
+	ASSERT(matrixEqual(Matrix(2, 3, data_test), r));
+	printf("PASS\n");
+	return 0;
+}
+
+int matrixMultTest()
+{
+	printf("Test Matrix Mult\t: ");
+	Matrix r = testC * testB;
+	float data_test[] = {
+		7.0f, -1.0f,  2.0f,
+		7.0f,  1.0f,  8.0f,
+		14.0f,  1.0f, 13.0f
+	};
+	ASSERT(matrixEqual(Matrix(3, 3, data_test), r));
+	printf("PASS\n");
+	return 0;
+}
+
+int matrixInvTest()
+{
+	printf("Test Matrix Inv\t\t: ");
+	Matrix origF = testF;
+	Matrix r = testF.inverse();
+	float data_test[] = {
+		-0.0012518f,  0.0001610f, 0.0000000f,
+		0.0001622f, -0.0000209f, 0.0000000f,
+		0.0000000f,  0.0000000f, 1.6580e-9f
+	};
+	ASSERT(matrixEqual(Matrix(3, 3, data_test), r));
+	// make sure F in unchanged
+	ASSERT(matrixEqual(origF, testF));
+	printf("PASS\n");
+	return 0;
+}
+
+int matrixDivTest()
+{
+	printf("Test Matrix Div\t\t: ");
+	Matrix r = testD / testE;
+	float data_test[] = {
+		0.2222222f, 0.5555556f, -0.1111111f,
+		0.0f,       1.0f,         1.0,
+		-4.1111111f, 1.2222222f,  4.5555556f
+	};
+	ASSERT(matrixEqual(Matrix(3, 3, data_test), r));
+	printf("PASS\n");
+	return 0;
+}
+
+bool matrixEqual(const Matrix &a, const Matrix &b, float eps)
+{
+	if (a.getRows() != b.getRows()) {
+		printf("row number not equal a: %d, b:%d\n", a.getRows(), b.getRows());
+		return false;
+
+	} else if (a.getCols() != b.getCols()) {
+		printf("column number not equal a: %d, b:%d\n", a.getCols(), b.getCols());
+		return false;
+	}
+
+	bool ret = true;
+
+	for (size_t i = 0; i < a.getRows(); i++)
+		for (size_t j = 0; j < a.getCols(); j++) {
+			if (!equal(a(i, j), b(i, j), eps)) {
+				printf("element mismatch (%d, %d)\n", i, j);
+				ret = false;
+			}
+		}
+
+	return ret;
+}
+
+} // namespace math