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consume PX4/Matrix repository and preserve history
This commit is contained in:
Daniel Agar
@@ -0,0 +1,67 @@
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include(gtest.cmake)
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set(tests
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setIdentity
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inverse
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slice
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matrixMult
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vectorAssignment
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matrixAssignment
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matrixScalarMult
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transpose
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vector
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vector2
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vector3
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attitude
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filter
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integration
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sparseVector
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squareMatrix
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helper
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hatvee
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copyto
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least_squares
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upperRightTriangle
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dual
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pseudoInverse
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)
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add_custom_target(test_build)
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foreach(test_name ${tests})
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add_executable(${test_name}
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${test_name}.cpp)
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add_test(test_${test_name} ${test_name})
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add_dependencies(test_build ${test_name})
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endforeach()
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target_link_libraries(sparseVector gtest_main)
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if (${CMAKE_BUILD_TYPE} STREQUAL "Coverage")
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add_custom_target(coverage_build
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COMMAND ${CMAKE_CTEST_COMMAND}
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COMMAND lcov --capture --directory . --output-file coverage.info --rc lcov_branch_coverage=1
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COMMAND lcov --rc lcov_branch_coverage=1 --summary coverage.info
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WORKING_DIRECTORY ${CMAKE_BUILD_DIR}
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DEPENDS test_build
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)
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add_custom_target(coverage_html
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COMMAND genhtml coverage.info --output-directory out --branch-coverage
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COMMAND x-www-browser out/index.html
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WORKING_DIRECTORY ${CMAKE_BUILD_DIR}
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DEPENDS coverage_build
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)
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set(coverage_deps
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coverage_build)
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if (COV_HTML)
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list(APPEND coverage_deps coverage_html)
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endif()
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add_custom_target(coverage
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DEPENDS ${coverage_deps}
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)
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endif()
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# vim: set et fenc=utf-8 ft=cmake ff=unix sts=0 sw=4 ts=4 :
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@@ -0,0 +1,18 @@
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cmake_minimum_required(VERSION 2.8.4)
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project(googletest-download NONE)
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include(ExternalProject)
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ExternalProject_Add(googletest
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URL https://github.com/google/googletest/archive/e2239ee6043f73722e7aa812a459f54a28552929.zip
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SOURCE_DIR "${CMAKE_CURRENT_BINARY_DIR}/googletest-src"
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BINARY_DIR "${CMAKE_CURRENT_BINARY_DIR}/googletest-build"
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CONFIGURE_COMMAND ""
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BUILD_COMMAND ""
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INSTALL_COMMAND ""
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TEST_COMMAND ""
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# Wrap download, configure and build steps in a script to log output
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LOG_DOWNLOAD ON
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LOG_CONFIGURE ON
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LOG_BUILD ON
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)
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@@ -0,0 +1,490 @@
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#include "test_macros.hpp"
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#include <matrix/math.hpp>
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#include <iostream>
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using namespace matrix;
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// manually instantiated all files we intend to test
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// so that coverage works correctly
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// doesn't matter what test this is in
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namespace matrix {
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template class Matrix<float, 3, 3>;
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template class Vector3<float>;
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template class Vector2<float>;
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template class Vector<float, 4>;
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template class Quaternion<float>;
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template class AxisAngle<float>;
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template class Scalar<float>;
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template class SquareMatrix<float, 4>;
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}
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int main()
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{
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// check data
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Eulerf euler_check(0.1f, 0.2f, 0.3f);
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Quatf q_check(0.98334744f, 0.0342708f, 0.10602051f, .14357218f);
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float dcm_data[] = {
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0.93629336f, -0.27509585f, 0.21835066f,
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0.28962948f, 0.95642509f, -0.03695701f,
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-0.19866933f, 0.0978434f, 0.97517033f
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};
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Dcmf dcm_check(dcm_data);
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// euler ctor
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TEST(isEqual(euler_check, Vector3f(0.1f, 0.2f, 0.3f)));
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// euler default ctor
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Eulerf e;
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Eulerf e_zero = zeros<float, 3, 1>();
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TEST(isEqual(e, e_zero));
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TEST(isEqual(e, e));
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// euler vector ctor
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Vector3f v(0.1f, 0.2f, 0.3f);
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Eulerf euler_copy(v);
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TEST(isEqual(euler_copy, euler_check));
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// quaternion ctor
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Quatf q0(1, 2, 3, 4);
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Quatf q(q0);
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double eps = 1e-6;
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TEST(fabs(q(0) - 1) < eps);
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TEST(fabs(q(1) - 2) < eps);
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TEST(fabs(q(2) - 3) < eps);
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TEST(fabs(q(3) - 4) < eps);
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// quaternion ctor: vector to vector
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// identity test
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Quatf quat_v(v,v);
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TEST(isEqual(quat_v.conjugate(v), v));
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// random test (vector norm can not be preserved with a pure rotation)
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Vector3f v1(-80.1f, 1.5f, -6.89f);
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quat_v = Quatf(v1, v);
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TEST(isEqual(quat_v.conjugate(v1).normalized() * v.norm(), v));
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// special 180 degree case 1
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v1 = Vector3f(0.f, 1.f, 1.f);
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quat_v = Quatf(v1, -v1);
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TEST(isEqual(quat_v.conjugate(v1), -v1));
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// special 180 degree case 2
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v1 = Vector3f(1.f, 2.f, 0.f);
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quat_v = Quatf(v1, -v1);
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TEST(isEqual(quat_v.conjugate(v1), -v1));
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// special 180 degree case 3
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v1 = Vector3f(0.f, 0.f, 1.f);
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quat_v = Quatf(v1, -v1);
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TEST(isEqual(quat_v.conjugate(v1), -v1));
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// special 180 degree case 4
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v1 = Vector3f(1.f, 1.f, 1.f);
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quat_v = Quatf(v1, -v1);
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TEST(isEqual(quat_v.conjugate(v1), -v1));
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// quat normalization
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q.normalize();
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TEST(isEqual(q, Quatf(0.18257419f, 0.36514837f,
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0.54772256f, 0.73029674f)));
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TEST(isEqual(q0.unit(), q));
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TEST(isEqual(q0.unit(), q0.normalized()));
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// quat default ctor
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q = Quatf();
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TEST(isEqual(q, Quatf(1, 0, 0, 0)));
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// quaternion exponential with v=0
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v = Vector3f();
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q = Quatf(1.0f, 0.0f, 0.0f, 0.0f);
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Dcmf M = Dcmf()*0.5f;
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TEST(isEqual(q, Quatf::expq(v)));
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TEST(isEqual(M, Quatf::inv_r_jacobian(v)));
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// quaternion exponential with small v
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v = Vector3f(0.001f,0.002f,-0.003f);
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q = Quatf(0.999993000008167f, 0.000999997666668f,
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0.001999995333337f, -0.002999993000005f);
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{
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float M_data[] = {
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0.499997833331311f, 0.001500333333644f, 0.000999499999533f,
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-0.001499666666356f, 0.499998333331778f, -0.000501000000933f,
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-0.001000500000467f, 0.000498999999067f, 0.499999166665889f
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};
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M = Dcmf(M_data);
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}
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TEST(isEqual(q, Quatf::expq(v)));
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TEST(isEqual(M, Quatf::inv_r_jacobian(v)));
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// quaternion exponential with v
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v = Vector3f(1.0f, -2.0f, 3.0f);
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q = Quatf(-0.825299062075259f, -0.150921327219964f,
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0.301842654439929f, -0.452763981659893f);
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{
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float M_data[] = {
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2.574616981530584f, -1.180828156687602f, -1.478757764968596f,
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1.819171843312398f, 2.095859216561988f, 0.457515529937193f,
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0.521242235031404f, 1.457515529937193f, 1.297929608280994f
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};
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M = Dcmf(M_data);
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}
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TEST(isEqual(q, Quatf::expq(v)));
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TEST(isEqual(M, Quatf::inv_r_jacobian(v)));
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// quaternion kinematic update
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q = Quatf();
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float h=0.001f; // sampling time [s]
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Vector3f w_B=Vector3f(0.1f,0.2f,0.3f); // body rate in body frame
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Quatf qa=q+0.5f*h*q.derivative1(w_B);
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qa.normalize();
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Quatf qb=q*Quatf::expq(0.5f*h*w_B);
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TEST(isEqual(qa, qb));
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// euler to quaternion
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q = Quatf(euler_check);
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TEST(isEqual(q, q_check));
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// euler to dcm
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Dcmf dcm(euler_check);
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TEST(isEqual(dcm, dcm_check));
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// quaternion to euler
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Eulerf e1(q_check);
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TEST(isEqual(e1, euler_check));
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// quaternion to dcm
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Dcmf dcm1(q_check);
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TEST(isEqual(dcm1, dcm_check));
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// quaternion z-axis unit base vector
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Vector3f q_z = q_check.dcm_z();
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Vector3f R_z(dcm_check(0, 2), dcm_check(1, 2), dcm_check(2, 2));
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TEST(isEqual(q_z, R_z));
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// dcm default ctor
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Dcmf dcm2;
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SquareMatrix<float, 3> I = eye<float, 3>();
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TEST(isEqual(dcm2, I));
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// dcm to euler
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Eulerf e2(dcm_check);
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TEST(isEqual(e2, euler_check));
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// dcm to quaterion
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Quatf q2(dcm_check);
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TEST(isEqual(q2, q_check));
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// dcm renormalize
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Dcmf A = eye<float, 3>();
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Dcmf R(euler_check);
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for (size_t i = 0; i < 1000; i++) {
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A = R * A;
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}
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A.renormalize();
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float err = 0.0f;
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for (size_t r = 0; r < 3; r++) {
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Vector3f rvec(matrix::Matrix<float,1,3>(A.row(r)).transpose());
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err += fabs(1.0f - rvec.length());
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}
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TEST(err < eps);
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// constants
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double deg2rad = M_PI / 180.0;
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double rad2deg = 180.0 / M_PI;
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// euler dcm round trip check
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for (double roll = -90; roll <= 90; roll += 90) {
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for (double pitch = -90; pitch <= 90; pitch += 90) {
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for (double yaw = -179; yaw <= 180; yaw += 90) {
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// note if theta = pi/2, then roll is set to zero
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double roll_expected = roll;
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double yaw_expected = yaw;
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if (fabs(pitch -90) < eps) {
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roll_expected = 0;
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yaw_expected = yaw - roll;
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} else if (fabs(pitch + 90) < eps) {
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roll_expected = 0;
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yaw_expected = yaw + roll;
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}
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if (yaw_expected < -180) {
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yaw_expected += 360;
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}
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|
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if (yaw_expected > 180) {
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yaw_expected -= 360;
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}
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//printf("roll:%d pitch:%d yaw:%d\n", roll, pitch, yaw);
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Euler<double> euler_expected(
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deg2rad * roll_expected,
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deg2rad * pitch,
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deg2rad * yaw_expected);
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Euler<double> euler(
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deg2rad * roll,
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deg2rad * pitch,
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deg2rad * yaw);
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Dcm<double> dcm_from_euler(euler);
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//dcm_from_euler.print();
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Euler<double> euler_out(dcm_from_euler);
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TEST(isEqual(rad2deg * euler_expected, rad2deg * euler_out));
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Eulerf eulerf_expected(
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float(deg2rad)*float(roll_expected),
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float(deg2rad)*float(pitch),
|
||||
float(deg2rad)*float(yaw_expected));
|
||||
Eulerf eulerf(float(deg2rad)*float(roll),
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float(deg2rad)*float(pitch),
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float(deg2rad)*float(yaw));
|
||||
Dcm<float> dcm_from_eulerf;
|
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dcm_from_eulerf = eulerf;
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Euler<float> euler_outf(dcm_from_eulerf);
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TEST(isEqual(float(rad2deg)*eulerf_expected,
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float(rad2deg)*euler_outf));
|
||||
}
|
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}
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}
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// quaterion copy ctors
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float data_v4[] = {1, 2, 3, 4};
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Vector<float, 4> v4(data_v4);
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Quatf q_from_v(v4);
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TEST(isEqual(q_from_v, v4));
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||||
|
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Matrix<float, 4, 1> m4(data_v4);
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Quatf q_from_m(m4);
|
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TEST(isEqual(q_from_m, m4));
|
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|
||||
// quaternion derivative in frame 1
|
||||
Quatf q1(0, 1, 0, 0);
|
||||
Vector<float, 4> q1_dot1 = q1.derivative1(Vector3f(1, 2, 3));
|
||||
float data_q_dot1_check[] = { -0.5f, 0.0f, -1.5f, 1.0f};
|
||||
Vector<float, 4> q1_dot1_check(data_q_dot1_check);
|
||||
TEST(isEqual(q1_dot1, q1_dot1_check));
|
||||
|
||||
// quaternion derivative in frame 2
|
||||
Vector<float, 4> q1_dot2 = q1.derivative2(Vector3f(1, 2, 3));
|
||||
float data_q_dot2_check[] = { -0.5f, 0.0f, 1.5f, -1.0f};
|
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Vector<float, 4> q1_dot2_check(data_q_dot2_check);
|
||||
TEST(isEqual(q1_dot2, q1_dot2_check));
|
||||
|
||||
// quaternion product
|
||||
Quatf q_prod_check(
|
||||
0.93394439f, 0.0674002f, 0.20851f, 0.28236266f);
|
||||
TEST(isEqual(q_prod_check, q_check * q_check));
|
||||
q_check *= q_check;
|
||||
TEST(isEqual(q_prod_check, q_check));
|
||||
|
||||
// Quaternion scalar multiplication
|
||||
float scalar = 0.5;
|
||||
Quatf q_scalar_mul(1.0f, 2.0f, 3.0f, 4.0f);
|
||||
Quatf q_scalar_mul_check(1.0f * scalar, 2.0f * scalar,
|
||||
3.0f * scalar, 4.0f * scalar);
|
||||
Quatf q_scalar_mul_res = scalar * q_scalar_mul;
|
||||
TEST(isEqual(q_scalar_mul_check, q_scalar_mul_res));
|
||||
Quatf q_scalar_mul_res2 = q_scalar_mul * scalar;
|
||||
TEST(isEqual(q_scalar_mul_check, q_scalar_mul_res2));
|
||||
Quatf q_scalar_mul_res3(q_scalar_mul);
|
||||
q_scalar_mul_res3 *= scalar;
|
||||
TEST(isEqual(q_scalar_mul_check, q_scalar_mul_res3));
|
||||
|
||||
// quaternion inverse
|
||||
q = q_check.inversed();
|
||||
TEST(fabs(q_check(0) - q(0)) < eps);
|
||||
TEST(fabs(q_check(1) + q(1)) < eps);
|
||||
TEST(fabs(q_check(2) + q(2)) < eps);
|
||||
TEST(fabs(q_check(3) + q(3)) < eps);
|
||||
|
||||
q = q_check;
|
||||
q.invert();
|
||||
TEST(fabs(q_check(0) - q(0)) < eps);
|
||||
TEST(fabs(q_check(1) + q(1)) < eps);
|
||||
TEST(fabs(q_check(2) + q(2)) < eps);
|
||||
TEST(fabs(q_check(3) + q(3)) < eps);
|
||||
|
||||
// quaternion canonical
|
||||
Quatf q_non_canonical_1(-0.7f,0.4f, 0.3f, -0.3f);
|
||||
Quatf q_canonical_1(0.7f,-0.4f, -0.3f, 0.3f);
|
||||
Quatf q_canonical_ref_1(0.7f,-0.4f, -0.3f, 0.3f);
|
||||
TEST(isEqual(q_non_canonical_1.canonical(),q_canonical_ref_1));
|
||||
TEST(isEqual(q_canonical_1.canonical(),q_canonical_ref_1));
|
||||
q_non_canonical_1.canonicalize();
|
||||
q_canonical_1.canonicalize();
|
||||
TEST(isEqual(q_non_canonical_1,q_canonical_ref_1));
|
||||
TEST(isEqual(q_canonical_1,q_canonical_ref_1));
|
||||
|
||||
Quatf q_non_canonical_2(0.0f, -1.0f, 0.0f, 0.0f);
|
||||
Quatf q_canonical_2(0.0f, 1.0f, 0.0f, 0.0f);
|
||||
Quatf q_canonical_ref_2(0.0f, 1.0f, 0.0f, 0.0f);
|
||||
TEST(isEqual(q_non_canonical_2.canonical(),q_canonical_ref_2));
|
||||
TEST(isEqual(q_canonical_2.canonical(),q_canonical_ref_2));
|
||||
q_non_canonical_2.canonicalize();
|
||||
q_canonical_2.canonicalize();
|
||||
TEST(isEqual(q_non_canonical_2,q_canonical_ref_2));
|
||||
TEST(isEqual(q_canonical_2,q_canonical_ref_2));
|
||||
|
||||
Quatf q_non_canonical_3(0.0f, 0.0f, -1.0f, 0.0f);
|
||||
Quatf q_canonical_3(0.0f, 0.0f, 1.0f, 0.0f);
|
||||
Quatf q_canonical_ref_3(0.0f, 0.0f, 1.0f, 0.0f);
|
||||
TEST(isEqual(q_non_canonical_3.canonical(),q_canonical_ref_3));
|
||||
TEST(isEqual(q_canonical_3.canonical(),q_canonical_ref_3));
|
||||
q_non_canonical_3.canonicalize();
|
||||
q_canonical_3.canonicalize();
|
||||
TEST(isEqual(q_non_canonical_3,q_canonical_ref_3));
|
||||
TEST(isEqual(q_canonical_3,q_canonical_ref_3));
|
||||
|
||||
Quatf q_non_canonical_4(0.0f, 0.0f, 0.0f, -1.0f);
|
||||
Quatf q_canonical_4(0.0f, 0.0f, 0.0f, 1.0f);
|
||||
Quatf q_canonical_ref_4(0.0f, 0.0f, 0.0f, 1.0f);
|
||||
TEST(isEqual(q_non_canonical_4.canonical(),q_canonical_ref_4));
|
||||
TEST(isEqual(q_canonical_4.canonical(),q_canonical_ref_4));
|
||||
q_non_canonical_4.canonicalize();
|
||||
q_canonical_4.canonicalize();
|
||||
TEST(isEqual(q_non_canonical_4,q_canonical_ref_4));
|
||||
TEST(isEqual(q_canonical_4,q_canonical_ref_4));
|
||||
|
||||
Quatf q_non_canonical_5(0.0f, 0.0f, 0.0f, 0.0f);
|
||||
Quatf q_canonical_5(0.0f, 0.0f, 0.0f, 0.0f);
|
||||
Quatf q_canonical_ref_5(0.0f, 0.0f, 0.0f, 0.0f);
|
||||
TEST(isEqual(q_non_canonical_5.canonical(),q_canonical_ref_5));
|
||||
TEST(isEqual(q_canonical_5.canonical(),q_canonical_ref_5));
|
||||
q_non_canonical_5.canonicalize();
|
||||
q_canonical_5.canonicalize();
|
||||
TEST(isEqual(q_non_canonical_5,q_canonical_ref_5));
|
||||
TEST(isEqual(q_canonical_5,q_canonical_ref_5));
|
||||
|
||||
// quaternion setIdentity
|
||||
Quatf q_nonIdentity(-0.7f, 0.4f, 0.5f, -0.3f);
|
||||
q_nonIdentity.setIdentity();
|
||||
TEST(isEqual(q_nonIdentity, Quatf()));
|
||||
|
||||
// non-unit quaternion invese
|
||||
Quatf q_nonunit(0.1f, 0.2f, 0.3f, 0.4f);
|
||||
TEST(isEqual(q_nonunit*q_nonunit.inversed(), Quatf()));
|
||||
|
||||
// rotate quaternion (nonzero rotation)
|
||||
Vector3f rot(1.f, 0.f, 0.f);
|
||||
Quatf q_test;
|
||||
q_test.rotate(rot);
|
||||
Quatf q_true(cos(1.0f / 2), sin(1.0f / 2), 0.0f, 0.0f);
|
||||
TEST(isEqual(q_test, q_true));
|
||||
|
||||
// rotate quaternion (zero rotation)
|
||||
rot(0) = rot(1) = rot(2) = 0.0f;
|
||||
q_test = Quatf();
|
||||
q_test.rotate(rot);
|
||||
q_true = Quatf(cos(0.0f), sin(0.0f), 0.0f, 0.0f);
|
||||
TEST(isEqual(q_test, q_true));
|
||||
|
||||
// rotate quaternion (random non-commutating rotation)
|
||||
q = Quatf(AxisAnglef(5.1f, 3.2f, 8.4f));
|
||||
rot = Vector3f(1.1f, 2.5f, 3.8f);
|
||||
q.rotate(rot);
|
||||
q_true = Quatf(0.3019f, 0.2645f, 0.2268f, 0.8874f);
|
||||
TEST(isEqual(q, q_true));
|
||||
|
||||
// get rotation axis from quaternion (nonzero rotation)
|
||||
q = Quatf(cos(1.0f / 2), 0.0f, sin(1.0f / 2), 0.0f);
|
||||
rot = AxisAnglef(q);
|
||||
TEST(fabs(rot(0)) < eps);
|
||||
TEST(fabs(rot(1) - 1.0f) < eps);
|
||||
TEST(fabs(rot(2)) < eps);
|
||||
|
||||
// get rotation axis from quaternion (zero rotation)
|
||||
q = Quatf(1.0f, 0.0f, 0.0f, 0.0f);
|
||||
rot = AxisAnglef(q);
|
||||
TEST(fabs(rot(0)) < eps);
|
||||
TEST(fabs(rot(1)) < eps);
|
||||
TEST(fabs(rot(2)) < eps);
|
||||
|
||||
// from axis angle (zero rotation)
|
||||
rot(0) = rot(1) = rot(2) = 0.0f;
|
||||
q = Quatf(AxisAnglef(rot));
|
||||
q_true = Quatf(1.0f, 0.0f, 0.0f, 0.0f);
|
||||
TEST(isEqual(q, q_true));
|
||||
|
||||
// from axis angle, with length of vector the rotation
|
||||
float n = float(sqrt(4*M_PI*M_PI/3));
|
||||
q = AxisAnglef(n, n, n);
|
||||
TEST(isEqual(q, Quatf(-1, 0, 0, 0)));
|
||||
q = AxisAnglef(0, 0, 0);
|
||||
TEST(isEqual(q, Quatf(1, 0, 0, 0)));
|
||||
|
||||
// Quaternion initialisation per array
|
||||
float q_array[] = {0.9833f, -0.0343f, -0.1060f, -0.1436f};
|
||||
Quaternion<float>q_from_array(q_array);
|
||||
|
||||
for (size_t i = 0; i < 4; i++) {
|
||||
TEST(fabs(q_from_array(i) - q_array[i]) < eps);
|
||||
}
|
||||
|
||||
// axis angle
|
||||
AxisAnglef aa_true(Vector3f(1.0f, 2.0f, 3.0f));
|
||||
TEST(isEqual(aa_true, Vector3f(1.0f, 2.0f, 3.0f)));
|
||||
AxisAnglef aa_empty;
|
||||
TEST(isEqual(aa_empty, AxisAnglef(0.0f, 0.0f, 0.0f)));
|
||||
float aa_data[] = {4.0f, 5.0f, 6.0f};
|
||||
AxisAnglef aa_data_init(aa_data);
|
||||
TEST(isEqual(aa_data_init, AxisAnglef(4.0f, 5.0f, 6.0f)));
|
||||
|
||||
AxisAnglef aa_norm_check(Vector3f(0.0f, 0.0f, 0.0f));
|
||||
TEST(isEqual(aa_norm_check.axis(), Vector3f(1, 0, 0)));
|
||||
TEST(isEqualF(aa_norm_check.angle(), 0.0f));
|
||||
|
||||
q = Quatf(-0.29555112749297824f, 0.25532186f, 0.51064372f, 0.76596558f);
|
||||
float r_array[9] = {-0.6949206f, 0.713521f, 0.089292854f, -0.19200698f, -0.30378509f, 0.93319237f, 0.69297814f, 0.63134968f, 0.34810752f};
|
||||
R = Dcmf(r_array);
|
||||
TEST(isEqual(q.imag(), Vector3f(0.25532186f, 0.51064372f, 0.76596558f)));
|
||||
|
||||
// from dcm
|
||||
TEST(isEqual(Quatf(R), q));
|
||||
TEST(isEqual(Quatf(Dcmf(q)), q));
|
||||
|
||||
// to dcm
|
||||
TEST(isEqual(Dcmf(q), R));
|
||||
TEST(isEqual(Dcmf(Quatf(R)), R));
|
||||
|
||||
// conjugate
|
||||
v = Vector3f(1.5f, 2.2f, 3.2f);
|
||||
TEST(isEqual(q.conjugate_inversed(v1), Dcmf(q).T()*v1));
|
||||
TEST(isEqual(q.conjugate(v1), Dcmf(q)*v1));
|
||||
|
||||
AxisAnglef aa_q_init(q);
|
||||
TEST(isEqual(aa_q_init, AxisAnglef(1.0f, 2.0f, 3.0f)));
|
||||
|
||||
AxisAnglef aa_euler_init(Eulerf(0.0f, 0.0f, 0.0f));
|
||||
TEST(isEqual(aa_euler_init, Vector3f(0.0f, 0.0f, 0.0f)));
|
||||
|
||||
Dcmf dcm_aa_check = AxisAnglef(dcm_check);
|
||||
TEST(isEqual(dcm_aa_check, dcm_check));
|
||||
|
||||
AxisAnglef aa_axis_angle_init(Vector3f(1.0f, 2.0f, 3.0f), 3.0f);
|
||||
TEST(isEqual(aa_axis_angle_init, Vector3f(0.80178373f, 1.60356745f, 2.40535118f)));
|
||||
TEST(isEqual(aa_axis_angle_init.axis(), Vector3f(0.26726124f, 0.53452248f, 0.80178373f)));
|
||||
TEST(isEqualF(aa_axis_angle_init.angle(), 3.0f));
|
||||
TEST(isEqual(Quatf((AxisAnglef(Vector3f(0.0f, 0.0f, 1.0f), 0.0f))),
|
||||
Quatf(1.0f, 0.0f, 0.0f, 0.0f)));
|
||||
|
||||
|
||||
// check consistentcy of quaternion and dcm product
|
||||
Dcmf dcm3(Eulerf(1, 2, 3));
|
||||
Dcmf dcm4(Eulerf(4, 5, 6));
|
||||
Dcmf dcm34 = dcm3 * dcm4;
|
||||
TEST(isEqual(Eulerf(Quatf(dcm3)*Quatf(dcm4)), Eulerf(dcm34)));
|
||||
|
||||
// check corner cases of matrix to quaternion conversion
|
||||
q = Quatf(0,1,0,0); // 180 degree rotation around the x axis
|
||||
R = Dcmf(q);
|
||||
TEST(isEqual(q, Quatf(R)));
|
||||
q = Quatf(0,0,1,0); // 180 degree rotation around the y axis
|
||||
R = Dcmf(q);
|
||||
TEST(isEqual(q, Quatf(R)));
|
||||
q = Quatf(0,0,0,1); // 180 degree rotation around the z axis
|
||||
R = Dcmf(q);
|
||||
TEST(isEqual(q, Quatf(R)));
|
||||
|
||||
#if defined(SUPPORT_STDIOSTREAM)
|
||||
std::cout << "q:" << q;
|
||||
#endif
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
|
||||
@@ -0,0 +1,72 @@
|
||||
#include "test_macros.hpp"
|
||||
#include <matrix/math.hpp>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
namespace {
|
||||
void doTheCopy(const Matrix<float, 2, 3>& A, float array_A[6])
|
||||
{
|
||||
A.copyTo(array_A);
|
||||
}
|
||||
}
|
||||
|
||||
int main()
|
||||
{
|
||||
float eps = 1e-6f;
|
||||
|
||||
// Vector3 copyTo
|
||||
const Vector3f v(1, 2, 3);
|
||||
float dst3[3] = {};
|
||||
v.copyTo(dst3);
|
||||
for (size_t i = 0; i < 3; i++) {
|
||||
TEST(fabs(v(i) - dst3[i]) < eps);
|
||||
}
|
||||
|
||||
// Quaternion copyTo
|
||||
Quatf q(1, 2, 3, 4);
|
||||
float dst4[4] = {};
|
||||
q.copyTo(dst4);
|
||||
for (size_t i = 0; i < 4; i++) {
|
||||
TEST(fabs(q(i) - dst4[i]) < eps);
|
||||
}
|
||||
|
||||
// Matrix copyTo
|
||||
Matrix<float, 2, 3> A;
|
||||
A(0,0) = 1;
|
||||
A(0,1) = 2;
|
||||
A(0,2) = 3;
|
||||
A(1,0) = 4;
|
||||
A(1,1) = 5;
|
||||
A(1,2) = 6;
|
||||
float array_A[6] = {};
|
||||
doTheCopy(A, array_A);
|
||||
float array_row[6] = {1, 2, 3, 4, 5, 6};
|
||||
for (size_t i = 0; i < 6; i++) {
|
||||
TEST(fabs(array_A[i] - array_row[i]) < eps);
|
||||
}
|
||||
|
||||
// Matrix copyToColumnMajor
|
||||
A.copyToColumnMajor(array_A);
|
||||
float array_column[6] = {1, 4, 2, 5, 3, 6};
|
||||
for (size_t i = 0; i < 6; i++) {
|
||||
TEST(fabs(array_A[i] - array_column[i]) < eps);
|
||||
}
|
||||
|
||||
// Slice copyTo
|
||||
float dst5[2] = {};
|
||||
v.slice<2,1>(0,0).copyTo(dst5);
|
||||
for (size_t i = 0; i < 2; i++) {
|
||||
TEST(fabs(v(i) - dst5[i]) < eps);
|
||||
}
|
||||
|
||||
float subarray_A[4] = {};
|
||||
A.slice<2,2>(0,0).copyToColumnMajor(subarray_A);
|
||||
float subarray_column[4] = {1,4,2,5};
|
||||
for (size_t i = 0; i < 4; i++) {
|
||||
TEST(fabs(subarray_A[i] - subarray_column[i]) < eps);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
|
||||
@@ -0,0 +1,310 @@
|
||||
#include "test_macros.hpp"
|
||||
#include <matrix/math.hpp>
|
||||
#include <iostream>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
template <typename Scalar, size_t N>
|
||||
bool isEqualAll(Dual<Scalar, N> a, Dual<Scalar, N> b)
|
||||
{
|
||||
return isEqualF(a.value, b.value) && a.derivative == b.derivative;
|
||||
}
|
||||
|
||||
template <typename T>
|
||||
T testFunction(const Vector<T, 3>& point) {
|
||||
// function is f(x,y,z) = x^2 + 2xy + 3y^2 + z
|
||||
return point(0)*point(0)
|
||||
+ 2.f * point(0) * point(1)
|
||||
+ 3.f * point(1) * point(1)
|
||||
+ point(2);
|
||||
}
|
||||
|
||||
template <typename Scalar>
|
||||
Vector<Scalar, 3> positionError(const Vector<Scalar, 3>& positionState,
|
||||
const Vector<Scalar, 3>& velocityStateBody,
|
||||
const Quaternion<Scalar>& bodyOrientation,
|
||||
const Vector<Scalar, 3>& positionMeasurement,
|
||||
Scalar dt
|
||||
)
|
||||
{
|
||||
return positionMeasurement - (positionState + bodyOrientation.conjugate(velocityStateBody) * dt);
|
||||
}
|
||||
|
||||
int main()
|
||||
{
|
||||
const Dual<float, 1> a(3,0);
|
||||
const Dual<float, 1> b(6,0);
|
||||
|
||||
{
|
||||
TEST(isEqualF(a.value, 3.f));
|
||||
TEST(isEqualF(a.derivative(0), 1.f));
|
||||
}
|
||||
|
||||
{
|
||||
// addition
|
||||
Dual<float, 1> c = a + b;
|
||||
TEST(isEqualF(c.value, 9.f));
|
||||
TEST(isEqualF(c.derivative(0), 2.f));
|
||||
|
||||
Dual<float, 1> d = +a;
|
||||
TEST(isEqualAll(d, a));
|
||||
d += b;
|
||||
TEST(isEqualAll(d, c));
|
||||
|
||||
Dual<float, 1> e = a;
|
||||
e += b.value;
|
||||
TEST(isEqualF(e.value, c.value));
|
||||
TEST(isEqual(e.derivative, a.derivative));
|
||||
|
||||
Dual<float, 1> f = b.value + a;
|
||||
TEST(isEqualAll(f, e));
|
||||
}
|
||||
|
||||
{
|
||||
// subtraction
|
||||
Dual<float, 1> c = b - a;
|
||||
TEST(isEqualF(c.value, 3.f));
|
||||
TEST(isEqualF(c.derivative(0), 0.f));
|
||||
|
||||
Dual<float, 1> d = b;
|
||||
TEST(isEqualAll(d, b));
|
||||
d -= a;
|
||||
TEST(isEqualAll(d, c));
|
||||
|
||||
Dual<float, 1> e = b;
|
||||
e -= a.value;
|
||||
TEST(isEqualF(e.value, c.value));
|
||||
TEST(isEqual(e.derivative, b.derivative));
|
||||
|
||||
Dual<float, 1> f = a.value - b;
|
||||
TEST(isEqualAll(f, -e));
|
||||
}
|
||||
|
||||
{
|
||||
// multiplication
|
||||
Dual<float, 1> c = a*b;
|
||||
TEST(isEqualF(c.value, 18.f));
|
||||
TEST(isEqualF(c.derivative(0), 9.f));
|
||||
|
||||
Dual<float, 1> d = a;
|
||||
TEST(isEqualAll(d, a));
|
||||
d *= b;
|
||||
TEST(isEqualAll(d, c));
|
||||
|
||||
Dual<float, 1> e = a;
|
||||
e *= b.value;
|
||||
TEST(isEqualF(e.value, c.value));
|
||||
TEST(isEqual(e.derivative, a.derivative * b.value));
|
||||
|
||||
Dual<float, 1> f = b.value * a;
|
||||
TEST(isEqualAll(f, e));
|
||||
}
|
||||
|
||||
{
|
||||
// division
|
||||
Dual<float, 1> c = b/a;
|
||||
TEST(isEqualF(c.value, 2.f));
|
||||
TEST(isEqualF(c.derivative(0), -1.f/3.f));
|
||||
|
||||
Dual<float, 1> d = b;
|
||||
TEST(isEqualAll(d, b));
|
||||
d /= a;
|
||||
TEST(isEqualAll(d, c));
|
||||
|
||||
Dual<float, 1> e = b;
|
||||
e /= a.value;
|
||||
TEST(isEqualF(e.value, c.value));
|
||||
TEST(isEqual(e.derivative, b.derivative / a.value));
|
||||
|
||||
Dual<float, 1> f = a.value / b;
|
||||
TEST(isEqualAll(f, 1.f/e));
|
||||
}
|
||||
|
||||
{
|
||||
Dual<float, 1> blank;
|
||||
TEST(isEqualF(blank.value, 0.f));
|
||||
TEST(isEqualF(blank.derivative(0), 0.f));
|
||||
}
|
||||
|
||||
{
|
||||
// sqrt
|
||||
TEST(isEqualF(sqrt(a).value, sqrt(a.value)));
|
||||
TEST(isEqualF(sqrt(a).derivative(0), 1.f/sqrt(12.f)));
|
||||
}
|
||||
|
||||
{
|
||||
// abs
|
||||
TEST(isEqualAll(a, abs(-a)));
|
||||
TEST(!isEqualAll(-a, abs(a)));
|
||||
TEST(isEqualAll(-a, -abs(a)));
|
||||
}
|
||||
|
||||
{
|
||||
// ceil
|
||||
Dual<float, 1> c(1.5,0);
|
||||
TEST(isEqualF(ceil(c).value, ceil(c.value)));
|
||||
TEST(isEqualF(ceil(c).derivative(0), 0.f));
|
||||
}
|
||||
|
||||
{
|
||||
// floor
|
||||
Dual<float, 1> c(1.5,0);
|
||||
TEST(isEqualF(floor(c).value, floor(c.value)));
|
||||
TEST(isEqualF(floor(c).derivative(0), 0.f));
|
||||
}
|
||||
|
||||
{
|
||||
// fmod
|
||||
TEST(isEqualF(fmod(a, 0.8f).value, fmod(a.value, 0.8f)));
|
||||
TEST(isEqual(fmod(a, 0.8f).derivative, a.derivative));
|
||||
}
|
||||
|
||||
{
|
||||
// max/min
|
||||
TEST(isEqualAll(b, max(a, b)));
|
||||
TEST(isEqualAll(a, min(a, b)));
|
||||
}
|
||||
|
||||
{
|
||||
// isnan
|
||||
TEST(!IsNan(a));
|
||||
Dual<float, 1> c(sqrt(-1.f),0);
|
||||
TEST(IsNan(c));
|
||||
}
|
||||
|
||||
{
|
||||
// isfinite/isinf
|
||||
TEST(IsFinite(a));
|
||||
TEST(!IsInf(a));
|
||||
Dual<float, 1> c(sqrt(-1.f),0);
|
||||
TEST(!IsFinite(c));
|
||||
TEST(!IsInf(c));
|
||||
Dual<float, 1> d(INFINITY,0);
|
||||
TEST(!IsFinite(d));
|
||||
TEST(IsInf(d));
|
||||
}
|
||||
|
||||
{
|
||||
// sin/cos/tan
|
||||
TEST(isEqualF(sin(a).value, sin(a.value)));
|
||||
TEST(isEqualF(sin(a).derivative(0), cos(a.value))); // sin'(x) = cos(x)
|
||||
|
||||
TEST(isEqualF(cos(a).value, cos(a.value)));
|
||||
TEST(isEqualF(cos(a).derivative(0), -sin(a.value))); // cos'(x) = -sin(x)
|
||||
|
||||
TEST(isEqualF(tan(a).value, tan(a.value)));
|
||||
TEST(isEqualF(tan(a).derivative(0), 1.f + tan(a.value)*tan(a.value))); // tan'(x) = 1 + tan^2(x)
|
||||
}
|
||||
|
||||
{
|
||||
// asin/acos/atan
|
||||
Dual<float, 1> c(0.3f, 0);
|
||||
TEST(isEqualF(asin(c).value, asin(c.value)));
|
||||
TEST(isEqualF(asin(c).derivative(0), 1.f/sqrt(1.f - 0.3f*0.3f))); // asin'(x) = 1/sqrt(1-x^2)
|
||||
|
||||
TEST(isEqualF(acos(c).value, acos(c.value)));
|
||||
TEST(isEqualF(acos(c).derivative(0), -1.f/sqrt(1.f - 0.3f*0.3f))); // acos'(x) = -1/sqrt(1-x^2)
|
||||
|
||||
TEST(isEqualF(atan(c).value, atan(c.value)));
|
||||
TEST(isEqualF(atan(c).derivative(0), 1.f/(1.f + 0.3f*0.3f))); // tan'(x) = 1 + x^2
|
||||
}
|
||||
|
||||
{
|
||||
// atan2
|
||||
TEST(isEqualF(atan2(a, b).value, atan2(a.value, b.value)));
|
||||
TEST(isEqualAll(atan2(a, Dual<float,1>(b.value)), atan(a/b.value))); // atan2'(y, x) = atan'(y/x)
|
||||
}
|
||||
|
||||
{
|
||||
// partial derivatives
|
||||
// function is f(x,y,z) = x^2 + 2xy + 3y^2 + z, we need with respect to d/dx and d/dy at the point (0.5, -0.8, 2)
|
||||
|
||||
using D = Dual<float, 2>;
|
||||
|
||||
// set our starting point, requesting partial derivatives of x and y in column 0 and 1
|
||||
Vector3<D> dualPoint(D(0.5f, 0), D(-0.8f, 1), D(2.f));
|
||||
|
||||
Dual<float, 2> dualResult = testFunction(dualPoint);
|
||||
|
||||
// compare to a numerical derivative:
|
||||
Vector<float, 3> floatPoint = collectReals(dualPoint);
|
||||
float floatResult = testFunction(floatPoint);
|
||||
|
||||
float h = 0.0001f;
|
||||
Vector<float, 3> floatPoint_plusDX = floatPoint;
|
||||
floatPoint_plusDX(0) += h;
|
||||
float floatResult_plusDX = testFunction(floatPoint_plusDX);
|
||||
|
||||
Vector<float, 3> floatPoint_plusDY = floatPoint;
|
||||
floatPoint_plusDY(1) += h;
|
||||
float floatResult_plusDY = testFunction(floatPoint_plusDY);
|
||||
|
||||
Vector2f numerical_derivative((floatResult_plusDX - floatResult)/h,
|
||||
(floatResult_plusDY - floatResult)/h);
|
||||
|
||||
TEST(isEqualF(dualResult.value, floatResult, 0.0f));
|
||||
TEST(isEqual(dualResult.derivative, numerical_derivative, 1e-2f));
|
||||
|
||||
}
|
||||
|
||||
{
|
||||
// jacobian
|
||||
// get residual of x/y/z with partial derivatives of rotation
|
||||
|
||||
Vector3f direct_error;
|
||||
Matrix<float, 3, 4> numerical_jacobian;
|
||||
{
|
||||
Vector3f positionState(5,6,7);
|
||||
Vector3f velocityState(-1,0,1);
|
||||
Quaternionf velocityOrientation(0.2f,-0.1f,0,1);
|
||||
Vector3f positionMeasurement(4.5f, 6.2f, 7.9f);
|
||||
float dt = 0.1f;
|
||||
|
||||
direct_error = positionError(positionState,
|
||||
velocityState,
|
||||
velocityOrientation,
|
||||
positionMeasurement,
|
||||
dt);
|
||||
float h = 0.001f;
|
||||
for (size_t i = 0; i < 4; i++)
|
||||
{
|
||||
Quaternion<float> h4 = velocityOrientation;
|
||||
h4(i) += h;
|
||||
numerical_jacobian.col(i) = (positionError(positionState,
|
||||
velocityState,
|
||||
h4,
|
||||
positionMeasurement,
|
||||
dt)
|
||||
- direct_error)/h;
|
||||
}
|
||||
}
|
||||
Vector3f auto_error;
|
||||
Matrix<float, 3, 4> auto_jacobian;
|
||||
{
|
||||
using D4 = Dual<float, 4>;
|
||||
using Vector3d4 = Vector3<D4>;
|
||||
Vector3d4 positionState(D4(5), D4(6), D4(7));
|
||||
Vector3d4 velocityState(D4(-1), D4(0), D4(1));
|
||||
|
||||
// request partial derivatives of velocity orientation
|
||||
// by setting these variables' derivatives in corresponding columns [0...3]
|
||||
Quaternion<D4> velocityOrientation(D4(0.2f, 0),D4(-0.1f, 1),D4(0, 2),D4(1, 3));
|
||||
|
||||
Vector3d4 positionMeasurement(D4(4.5f), D4(6.2f), D4(7.9f));
|
||||
D4 dt(0.1f);
|
||||
|
||||
|
||||
Vector3d4 error = positionError(positionState,
|
||||
velocityState,
|
||||
velocityOrientation,
|
||||
positionMeasurement,
|
||||
dt);
|
||||
auto_error = collectReals(error);
|
||||
auto_jacobian = collectDerivatives(error);
|
||||
}
|
||||
TEST(isEqual(direct_error, auto_error, 0.0f));
|
||||
TEST(isEqual(numerical_jacobian, auto_jacobian, 1e-3f));
|
||||
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
@@ -0,0 +1,29 @@
|
||||
#include "test_macros.hpp"
|
||||
#include <matrix/filter.hpp>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
int main()
|
||||
{
|
||||
const size_t n_x = 6;
|
||||
const size_t n_y = 5;
|
||||
SquareMatrix<float, n_x> P = eye<float, n_x>();
|
||||
SquareMatrix<float, n_y> R = eye<float, n_y>();
|
||||
Matrix<float, n_y, n_x> C;
|
||||
C.setIdentity();
|
||||
float data[] = {1,2,3,4,5};
|
||||
Vector<float, n_y> r(data);
|
||||
|
||||
Vector<float, n_x> dx;
|
||||
SquareMatrix<float, n_x> dP;
|
||||
float beta = 0;
|
||||
kalman_correct<float, 6, 5>(P, C, R, r, dx, dP, beta);
|
||||
|
||||
float data_check[] = {0.5,1,1.5,2,2.5,0};
|
||||
Vector<float, n_x> dx_check(data_check);
|
||||
TEST(isEqual(dx, dx_check));
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
|
||||
@@ -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)
|
||||
@@ -0,0 +1,19 @@
|
||||
#include "test_macros.hpp"
|
||||
#include <matrix/math.hpp>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
int main()
|
||||
{
|
||||
Euler<float> euler(0.1f, 0.2f, 0.3f);
|
||||
Dcm<float> R(euler);
|
||||
Dcm<float> skew = R - R.T();
|
||||
Vector3<float> w = skew.vee();
|
||||
Vector3<float> w_check(0.1348f, 0.4170f, 0.5647f);
|
||||
|
||||
TEST(isEqual(w, w_check));
|
||||
TEST(isEqual(skew, w.hat()));
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
|
||||
@@ -0,0 +1,78 @@
|
||||
#include "test_macros.hpp"
|
||||
#include <matrix/math.hpp>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
int main()
|
||||
{
|
||||
// general wraps
|
||||
TEST(fabs(wrap(4., 0., 10.) - 4.) < FLT_EPSILON);
|
||||
TEST(fabs(wrap(4., 0., 1.)) < FLT_EPSILON);
|
||||
TEST(fabs(wrap(-4., 0., 10.) - 6.) < FLT_EPSILON);
|
||||
TEST(fabs(wrap(-18., 0., 10.) - 2.) < FLT_EPSILON);
|
||||
TEST(fabs(wrap(-1.5, 3., 5.) - 4.5) < FLT_EPSILON);
|
||||
TEST(fabs(wrap(15.5, 3., 5.) - 3.5) < FLT_EPSILON);
|
||||
TEST(fabs(wrap(-1., 30., 40.) - 39.) < FLT_EPSILON);
|
||||
TEST(fabs(wrap(-8000., -555., 1.) - (-216.)) < FLT_EPSILON);
|
||||
TEST(fabs(wrap(0., 0., 360.)) < FLT_EPSILON);
|
||||
TEST(fabs(wrap(0. - FLT_EPSILON, 0., 360.) - (360. - FLT_EPSILON)) < FLT_EPSILON);
|
||||
TEST(fabs(wrap(0. + FLT_EPSILON, 0., 360.) - FLT_EPSILON) < FLT_EPSILON);
|
||||
TEST(fabs(wrap(360., 0., 360.)) < FLT_EPSILON);
|
||||
TEST(fabs(wrap(360. - FLT_EPSILON, 0., 360.) - (360. - FLT_EPSILON)) < FLT_EPSILON);
|
||||
TEST(fabs(wrap(360. + FLT_EPSILON, 0., 360.) - FLT_EPSILON) < FLT_EPSILON);
|
||||
|
||||
// integer wraps
|
||||
TEST(wrap(-10, 0, 10) == 0);
|
||||
TEST(wrap(-4, 0, 10) == 6);
|
||||
TEST(wrap(0, 0, 10) == 0)
|
||||
TEST(wrap(4, 0, 10) == 4);
|
||||
TEST(wrap(10, 0, 10) == 0);
|
||||
|
||||
// wrap pi
|
||||
TEST(fabs(wrap_pi(0.)) < FLT_EPSILON);
|
||||
TEST(fabs(wrap_pi(4.) - (4. - M_TWOPI)) < FLT_EPSILON);
|
||||
TEST(fabs(wrap_pi(-4.) - (-4. + M_TWOPI)) < FLT_EPSILON);
|
||||
TEST(fabs(wrap_pi(3.) - (3.)) < FLT_EPSILON);
|
||||
TEST(fabs(wrap_pi(100.) - (100. - 32. * M_PI)) < FLT_EPSILON);
|
||||
TEST(fabs(wrap_pi(-100.) - (-100. + 32. * M_PI)) < FLT_EPSILON);
|
||||
TEST(fabs(wrap_pi(-101.) - (-101. + 32. * M_PI)) < FLT_EPSILON);
|
||||
TEST(!is_finite(wrap_pi(NAN)));
|
||||
|
||||
// wrap 2pi
|
||||
TEST(fabs(wrap_2pi(0.)) < FLT_EPSILON);
|
||||
TEST(fabs(wrap_2pi(-4.) - (-4. + 2. * M_PI)) < FLT_EPSILON);
|
||||
TEST(fabs(wrap_2pi(3.) - (3.)) < FLT_EPSILON);
|
||||
TEST(fabs(wrap_2pi(200.) - (200. - 31. * M_TWOPI)) < FLT_EPSILON);
|
||||
TEST(fabs(wrap_2pi(-201.) - (-201. + 32. * M_TWOPI)) < FLT_EPSILON);
|
||||
TEST(!is_finite(wrap_2pi(NAN)));
|
||||
|
||||
// Equality checks
|
||||
TEST(isEqualF(1., 1.));
|
||||
TEST(!isEqualF(1., 2.));
|
||||
TEST(!isEqualF(NAN, 1.f));
|
||||
TEST(!isEqualF(1.f, NAN));
|
||||
TEST(!isEqualF(INFINITY, 1.f));
|
||||
TEST(!isEqualF(1.f, INFINITY));
|
||||
TEST(isEqualF(NAN, NAN));
|
||||
TEST(isEqualF(NAN, -NAN));
|
||||
TEST(isEqualF(-NAN, NAN));
|
||||
TEST(isEqualF(INFINITY, INFINITY));
|
||||
TEST(!isEqualF(INFINITY, -INFINITY));
|
||||
TEST(!isEqualF(-INFINITY, INFINITY));
|
||||
TEST(isEqualF(-INFINITY, -INFINITY));
|
||||
|
||||
Vector3f a(1, 2, 3);
|
||||
Vector3f b(4, 5, 6);
|
||||
TEST(!isEqual(a, b));
|
||||
TEST(isEqual(a, a));
|
||||
|
||||
Vector3f c(1, 2, 3);
|
||||
Vector3f d(1, 2, NAN);
|
||||
TEST(!isEqual(c, d));
|
||||
TEST(isEqual(c, c));
|
||||
TEST(isEqual(d, d));
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
|
||||
@@ -0,0 +1,26 @@
|
||||
#include "test_macros.hpp"
|
||||
#include <matrix/integration.hpp>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
Vector<float, 6> f(float t, const Matrix<float, 6, 1> & /*y*/, const Matrix<float, 3, 1> & /*u*/);
|
||||
|
||||
Vector<float, 6> f(float t, const Matrix<float, 6, 1> & /*y*/, const Matrix<float, 3, 1> & /*u*/) {
|
||||
float v = -sin(t);
|
||||
return v*ones<float, 6, 1>();
|
||||
}
|
||||
|
||||
int main()
|
||||
{
|
||||
Vector<float, 6> y = ones<float, 6, 1>();
|
||||
Vector<float, 3> u = ones<float, 3, 1>();
|
||||
float t0 = 0;
|
||||
float tf = 2;
|
||||
float h = 0.001f;
|
||||
integrate_rk4(f, y, u, t0, tf, h, y);
|
||||
float v = 1 + cos(tf) - cos(t0);
|
||||
TEST(isEqual(y, (ones<float, 6, 1>()*v)));
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
|
||||
@@ -0,0 +1,164 @@
|
||||
#include "test_macros.hpp"
|
||||
#include <matrix/math.hpp>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
static const size_t n_large = 50;
|
||||
|
||||
int main()
|
||||
{
|
||||
float data[9] = {0, 2, 3,
|
||||
4, 5, 6,
|
||||
7, 8, 10
|
||||
};
|
||||
float data_check[9] = {
|
||||
-0.4f, -0.8f, 0.6f,
|
||||
-0.4f, 4.2f, -2.4f,
|
||||
0.6f, -2.8f, 1.6f
|
||||
};
|
||||
|
||||
SquareMatrix<float, 3> A(data);
|
||||
SquareMatrix<float, 3> A_I = inv(A);
|
||||
SquareMatrix<float, 3> A_I_check(data_check);
|
||||
TEST((A_I - A_I_check).abs().max() < 1e-6f);
|
||||
|
||||
float data_2x2[4] = {12, 2,
|
||||
-7, 5
|
||||
};
|
||||
float data_2x2_check[4] = {
|
||||
0.0675675675f, -0.02702702f,
|
||||
0.0945945945f, 0.162162162f
|
||||
};
|
||||
|
||||
SquareMatrix<float, 2> A2x2(data_2x2);
|
||||
SquareMatrix<float, 2> A2x2_I = inv(A2x2);
|
||||
SquareMatrix<float, 2> A2x2_I_check(data_2x2_check);
|
||||
TEST(isEqual(A2x2_I, A2x2_I_check));
|
||||
|
||||
SquareMatrix<float, 2> A2x2_sing = ones<float, 2, 2>();
|
||||
SquareMatrix<float, 2> A2x2_sing_I;
|
||||
TEST(inv(A2x2_sing, A2x2_sing_I) == false);
|
||||
|
||||
SquareMatrix<float, 3> A3x3_sing = ones<float, 3, 3>();
|
||||
SquareMatrix<float, 3> A3x3_sing_I;
|
||||
TEST(inv(A3x3_sing, A3x3_sing_I) == false)
|
||||
|
||||
// stess test
|
||||
SquareMatrix<float, n_large> A_large;
|
||||
A_large.setIdentity();
|
||||
SquareMatrix<float, n_large> A_large_I;
|
||||
A_large_I.setZero();
|
||||
|
||||
for (size_t i = 0; i < n_large; i++) {
|
||||
A_large_I = inv(A_large);
|
||||
TEST(isEqual(A_large, A_large_I));
|
||||
}
|
||||
|
||||
SquareMatrix<float, 3> zero_test = zeros<float, 3, 3>();
|
||||
TEST(isEqual(inv(zero_test), zeros<float, 3, 3>()));
|
||||
|
||||
// test pivotting
|
||||
float data2[81] = {
|
||||
-2, 1, 1, -1, -5, 1, 2, -1, 0,
|
||||
-3, 2, -1, 0, 2, 2, -1, -5, 3,
|
||||
0, 0, 0, 1, 4, -3, 3, 0, -2,
|
||||
2, 2, -1, -2, -1, 0, 3, 0, 1,
|
||||
-1, 2, -1, -1, -3, 3, 0, -2, 3,
|
||||
0, 1, 1, -3, 3, -2, 0, -4, 0,
|
||||
1, 0, 0, 0, 0, 0, -2, 4, -3,
|
||||
1, -1, 0, -1, -1, 1, -1, -3, 4,
|
||||
0, 3, -1, -2, 2, 1, -2, 0, -1
|
||||
};
|
||||
|
||||
float data2_check[81] = {
|
||||
6, -4, 3, -3, -9, -8, -10, 8, 14,
|
||||
-2, -7, -5, -3, -2, -2, -16, -5, 8,
|
||||
-2, 0, -23, 7, -24, -5, -28, -14, 9,
|
||||
3, -7, 2, -5, -4, -6, -13, 4, 13,
|
||||
-1, 4, -8, 5, -8, 0, -3, -5, -2,
|
||||
6, 7, -7, 7, -21, -7, -5, 3, 6,
|
||||
1, 4, -4, 4, -7, -1, 0, -1, -1,
|
||||
-7, 3, -11, 5, 1, 6, -1, -13, -10,
|
||||
-8, 0, -11, 3, 3, 6, -5, -14, -8
|
||||
};
|
||||
SquareMatrix<float, 9> A2(data2);
|
||||
SquareMatrix<float, 9> A2_I = inv(A2);
|
||||
SquareMatrix<float, 9> A2_I_check(data2_check);
|
||||
TEST((A2_I - A2_I_check).abs().max() < 1e-3f);
|
||||
|
||||
float data3[9] = {
|
||||
0, 1, 2,
|
||||
3, 4, 5,
|
||||
6, 7, 9
|
||||
};
|
||||
float data3_check[9] = {
|
||||
-0.3333333f, -1.6666666f, 1,
|
||||
-1, 4, -2,
|
||||
1, -2, 1
|
||||
};
|
||||
SquareMatrix<float, 3> A3(data3);
|
||||
SquareMatrix<float, 3> A3_I = inv(A3);
|
||||
SquareMatrix<float, 3> A3_I_check(data3_check);
|
||||
TEST(isEqual(inv(A3), A3_I_check));
|
||||
TEST(isEqual(A3_I, A3_I_check));
|
||||
TEST(A3.I(A3_I));
|
||||
TEST(isEqual(A3_I, A3_I_check));
|
||||
|
||||
// cover singular matrices
|
||||
A3(0, 0) = 0;
|
||||
A3(0, 1) = 0;
|
||||
A3(0, 2) = 0;
|
||||
A3_I = inv(A3);
|
||||
SquareMatrix<float, 3> Z3 = zeros<float, 3, 3>();
|
||||
TEST(!A3.I(A3_I));
|
||||
TEST(!Z3.I(A3_I));
|
||||
TEST(isEqual(A3_I, Z3));
|
||||
TEST(isEqual(A3.I(), Z3));
|
||||
|
||||
for(size_t i = 0; i < 9; i++) {
|
||||
A2(0, i) = 0;
|
||||
}
|
||||
A2_I = inv(A2);
|
||||
SquareMatrix<float, 9> Z9 = zeros<float, 9, 9>();
|
||||
TEST(!A2.I(A2_I));
|
||||
TEST(!Z9.I(A2_I));
|
||||
TEST(isEqual(A2_I, Z9));
|
||||
TEST(isEqual(A2.I(), Z9));
|
||||
|
||||
// cover NaN
|
||||
A3(0, 0) = NAN;
|
||||
A3(0, 1) = 0;
|
||||
A3(0, 2) = 0;
|
||||
A3_I = inv(A3);
|
||||
TEST(isEqual(A3_I, Z3));
|
||||
TEST(isEqual(A3.I(), Z3));
|
||||
|
||||
A2(0, 0) = NAN;
|
||||
A2_I = inv(A2);
|
||||
TEST(isEqual(A2_I, Z9));
|
||||
TEST(isEqual(A2.I(), Z9));
|
||||
|
||||
float data4[9] = {
|
||||
1.33471626f, 0.74946721f, -0.0531679f,
|
||||
0.74946721f, 1.07519593f, 0.08036323f,
|
||||
-0.0531679f, 0.08036323f, 1.01618474f
|
||||
};
|
||||
SquareMatrix<float, 3> A4(data4);
|
||||
|
||||
float data4_cholesky[9] = {
|
||||
1.15529921f, 0.f, 0.f,
|
||||
0.6487213f, 0.80892311f, 0.f,
|
||||
-0.04602089f, 0.13625271f, 0.99774847f
|
||||
};
|
||||
SquareMatrix<float, 3> A4_cholesky_check(data4_cholesky);
|
||||
SquareMatrix<float, 3> A4_cholesky = cholesky(A4);
|
||||
TEST(isEqual(A4_cholesky_check, A4_cholesky));
|
||||
|
||||
SquareMatrix<float, 3> I3;
|
||||
I3.setIdentity();
|
||||
TEST(isEqual(choleskyInv(A4)*A4, I3));
|
||||
TEST(isEqual(cholesky(Z3), Z3));
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
|
||||
@@ -0,0 +1,100 @@
|
||||
#include "test_macros.hpp"
|
||||
#include <matrix/math.hpp>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
int test_4x3(void);
|
||||
template<typename Type> int test_4x4(void);
|
||||
int test_4x4_type_double(void);
|
||||
int test_div_zero(void);
|
||||
|
||||
int main()
|
||||
{
|
||||
int ret;
|
||||
|
||||
ret = test_4x4<float>();
|
||||
if (ret != 0) return ret;
|
||||
|
||||
ret = test_4x4<double>();
|
||||
if (ret != 0) return ret;
|
||||
|
||||
ret = test_4x3();
|
||||
if (ret != 0) return ret;
|
||||
|
||||
ret = test_div_zero();
|
||||
if (ret != 0) return ret;
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
int test_4x3() {
|
||||
// Start with an (m x n) A matrix
|
||||
float data[12] = {20.f, -10.f, -13.f,
|
||||
17.f, 16.f, -18.f,
|
||||
0.7f, -0.8f, 0.9f,
|
||||
-1.f, -1.1f, -1.2f
|
||||
};
|
||||
Matrix<float, 4, 3> A(data);
|
||||
|
||||
float b_data[4] = {2.0f, 3.0f, 4.0f, 5.0f};
|
||||
Vector<float, 4> b(b_data);
|
||||
|
||||
float x_check_data[3] = {-0.69168233f,
|
||||
-0.26227593f,
|
||||
-1.03767522f
|
||||
};
|
||||
Vector<float, 3> x_check(x_check_data);
|
||||
|
||||
LeastSquaresSolver<float, 4, 3> qrd = LeastSquaresSolver<float, 4, 3>(A);
|
||||
|
||||
Vector<float, 3> x = qrd.solve(b);
|
||||
TEST(isEqual(x, x_check));
|
||||
return 0;
|
||||
}
|
||||
|
||||
template<typename Type>
|
||||
int test_4x4() {
|
||||
// Start with an (m x n) A matrix
|
||||
const Type data[16] = { 20.f, -10.f, -13.f, 21.f,
|
||||
17.f, 16.f, -18.f, -14.f,
|
||||
0.7f, -0.8f, 0.9f, -0.5f,
|
||||
-1.f, -1.1f, -1.2f, -1.3f
|
||||
};
|
||||
Matrix<Type, 4, 4> A(data);
|
||||
|
||||
Type b_data[4] = {2.0f, 3.0f, 4.0f, 5.0f};
|
||||
Vector<Type, 4> b(b_data);
|
||||
|
||||
Type x_check_data[4] = { 0.97893433f,
|
||||
-2.80798701f,
|
||||
-0.03175765f,
|
||||
-2.19387649f
|
||||
};
|
||||
Vector<Type, 4> x_check(x_check_data);
|
||||
|
||||
LeastSquaresSolver<Type, 4, 4> qrd = LeastSquaresSolver<Type, 4, 4>(A);
|
||||
|
||||
Vector<Type, 4> x = qrd.solve(b);
|
||||
TEST(isEqual(x, x_check));
|
||||
return 0;
|
||||
}
|
||||
|
||||
int test_div_zero() {
|
||||
float data[4] = {0.0f, 0.0f, 0.0f, 0.0f};
|
||||
Matrix<float, 2, 2> A(data);
|
||||
|
||||
float b_data[2] = {1.0f, 1.0f};
|
||||
Vector<float, 2> b(b_data);
|
||||
|
||||
// Implement such that x returns zeros if it reaches div by zero
|
||||
float x_check_data[2] = {0.0f, 0.0f};
|
||||
Vector<float, 2> x_check(x_check_data);
|
||||
|
||||
LeastSquaresSolver<float, 2, 2> qrd = LeastSquaresSolver<float, 2, 2>(A);
|
||||
|
||||
Vector<float, 2> x = qrd.solve(b);
|
||||
TEST(isEqual(x, x_check));
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
|
||||
@@ -0,0 +1,260 @@
|
||||
#include "test_macros.hpp"
|
||||
#include <matrix/math.hpp>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
template class matrix::Matrix<float, 3, 2>;
|
||||
|
||||
int main()
|
||||
{
|
||||
Matrix3f m;
|
||||
m.setZero();
|
||||
m.zero();
|
||||
m(0, 0) = 1;
|
||||
m(0, 1) = 2;
|
||||
m(0, 2) = 3;
|
||||
m(1, 0) = 4;
|
||||
m(1, 1) = 5;
|
||||
m(1, 2) = 6;
|
||||
m(2, 0) = 7;
|
||||
m(2, 1) = 8;
|
||||
m(2, 2) = 9;
|
||||
|
||||
float data[9] = {1, 2, 3, 4, 5, 6, 7, 8, 9};
|
||||
Matrix3f m2(data);
|
||||
|
||||
for(size_t i=0; i<3; i++) {
|
||||
for (size_t j = 0; j < 3; j++) {
|
||||
TEST(fabs(data[i*3 + j] - m2(i,j)) < FLT_EPSILON);
|
||||
}
|
||||
}
|
||||
|
||||
Matrix3f m_nan;
|
||||
m_nan.setNaN();
|
||||
for(size_t i=0; i<3; i++) {
|
||||
for (size_t j = 0; j < 3; j++) {
|
||||
TEST(isnan(m_nan(i,j)));
|
||||
}
|
||||
}
|
||||
TEST(m_nan.isAllNan());
|
||||
|
||||
float data2d[3][3] = {
|
||||
{1, 2, 3},
|
||||
{4, 5, 6},
|
||||
{7, 8, 9}
|
||||
};
|
||||
m2 = Matrix3f(data2d);
|
||||
for(size_t i=0; i<3; i++) {
|
||||
for (size_t j = 0; j < 3; j++) {
|
||||
TEST(fabs(data[i*3 + j] - m2(i,j)) < FLT_EPSILON);
|
||||
}
|
||||
}
|
||||
TEST(!m2.isAllNan());
|
||||
|
||||
float data_times_2[9] = {2, 4, 6, 8, 10, 12, 14, 16, 18};
|
||||
Matrix3f m3(data_times_2);
|
||||
|
||||
TEST(isEqual(m, m2));
|
||||
TEST(!(isEqual(m, m3)));
|
||||
|
||||
m2 *= 2;
|
||||
TEST(isEqual(m2, m3));
|
||||
|
||||
m2 /= 2;
|
||||
m2 -= 1;
|
||||
float data_minus_1[9] = {0, 1, 2, 3, 4, 5, 6, 7, 8};
|
||||
TEST(isEqual(Matrix3f(data_minus_1), m2));
|
||||
|
||||
m2 += 1;
|
||||
TEST(isEqual(Matrix3f(data), m2));
|
||||
|
||||
m3 -= m2;
|
||||
|
||||
TEST(isEqual(m3, m2));
|
||||
|
||||
// set rows and columns to value
|
||||
Matrix3f m2e(data2d);
|
||||
|
||||
float data2e_check1[3][3] = {
|
||||
{1, 11, 3},
|
||||
{4, 11, 6},
|
||||
{7, 11, 9}
|
||||
};
|
||||
Matrix3f m2e_check1(data2e_check1);
|
||||
|
||||
float data2e_check2[3][3] = {
|
||||
{1, 11, 3},
|
||||
{4, 11, 6},
|
||||
{0, 0, 0}
|
||||
};
|
||||
Matrix3f m2e_check2(data2e_check2);
|
||||
|
||||
m2e.setCol(1, 11);
|
||||
TEST(isEqual(m2e, m2e_check1));
|
||||
m2e.setRow(2, 0);
|
||||
TEST(isEqual(m2e, m2e_check2));
|
||||
|
||||
float data_row_02_swap[9] = {
|
||||
7, 8, 9,
|
||||
4, 5, 6,
|
||||
1, 2, 3,
|
||||
};
|
||||
|
||||
float data_col_02_swap[9] = {
|
||||
3, 2, 1,
|
||||
6, 5, 4,
|
||||
9, 8, 7
|
||||
};
|
||||
|
||||
Matrix3f m4(data);
|
||||
|
||||
TEST(isEqual(-m4, m4*(-1)));
|
||||
|
||||
// col swap
|
||||
m4.swapCols(0, 2);
|
||||
TEST(isEqual(m4, Matrix3f(data_col_02_swap)));
|
||||
m4.swapCols(0, 2);
|
||||
|
||||
// row swap
|
||||
m4.swapRows(0, 2);
|
||||
TEST(isEqual(m4, Matrix3f(data_row_02_swap)));
|
||||
m4.swapRows(0, 2);
|
||||
|
||||
// swapping with same row should do nothing
|
||||
m4.swapRows(0, 0);
|
||||
m4.swapRows(1, 1);
|
||||
m4.swapRows(2, 2);
|
||||
TEST(isEqual(m4, Matrix3f(data)));
|
||||
|
||||
// swapping with same col should do nothing
|
||||
m4.swapCols(0, 0);
|
||||
m4.swapCols(1, 1);
|
||||
m4.swapCols(2, 2);
|
||||
TEST(isEqual(m4, Matrix3f(data)));
|
||||
|
||||
TEST(fabs(m4.min() - 1) < FLT_EPSILON);
|
||||
TEST(fabs((-m4).min() + 9) < FLT_EPSILON);
|
||||
|
||||
Scalar<float> s = 1;
|
||||
const Vector<float, 1> & s_vect = s;
|
||||
TEST(fabs(s - 1) < FLT_EPSILON);
|
||||
TEST(fabs(s_vect(0) - 1.0f) < FLT_EPSILON);
|
||||
|
||||
Matrix<float, 1, 1> m5 = s;
|
||||
TEST(fabs(m5(0,0) - s) < FLT_EPSILON);
|
||||
|
||||
Matrix<float, 2, 2> m6;
|
||||
m6.setRow(0, Vector2f(1, 2));
|
||||
float m7_array[] = {1,2,0,0};
|
||||
Matrix<float, 2, 2> m7(m7_array);
|
||||
TEST(isEqual(m6, m7));
|
||||
m6.setCol(0, Vector2f(3, 4));
|
||||
float m8_array[] = {3,2,4,0};
|
||||
Matrix<float, 2, 2> m8(m8_array);
|
||||
TEST(isEqual(m6, m8));
|
||||
|
||||
m7.setNaN();
|
||||
TEST(m7 != m8);
|
||||
|
||||
// min, max, constrain matrix values with scalar
|
||||
float data_m9[9] = {2, 4, 6, 8, 10, 12, 14, 16, 18};
|
||||
float lower_bound = 7;
|
||||
float upper_bound = 11;
|
||||
float data_m9_lower_bounded[9] = {7, 7, 7, 8, 10, 12, 14, 16, 18};
|
||||
float data_m9_upper_bounded[9] = {2, 4, 6, 8, 10, 11, 11, 11, 11};
|
||||
float data_m9_lower_constrained[9] = {7, 7, 7, 8, 10, 11, 11, 11, 11};
|
||||
Matrix3f m9(data_m9);
|
||||
Matrix3f m9_lower_bounded(data_m9_lower_bounded);
|
||||
Matrix3f m9_upper_bounded(data_m9_upper_bounded);
|
||||
Matrix3f m9_lower_upper_constrained(data_m9_lower_constrained);
|
||||
TEST(isEqual(max(m9, lower_bound), m9_lower_bounded));
|
||||
TEST(isEqual(max(lower_bound, m9), m9_lower_bounded));
|
||||
TEST(isEqual(min(m9, upper_bound), m9_upper_bounded));
|
||||
TEST(isEqual(min(upper_bound, m9), m9_upper_bounded));
|
||||
TEST(isEqual(constrain(m9, lower_bound, upper_bound), m9_lower_upper_constrained));
|
||||
TEST(isEqual(constrain(m9, 8.0f, 7.0f), m_nan));
|
||||
|
||||
// min, max, constrain matrix values with matrix of same size
|
||||
float data_m10[9] = {2, 4, 6, 8, 10, 12, 14, 16, 18};
|
||||
float data_m10_lower_bound[9] = {5, 7, 4, 8, 19, 10, 20, 16, 18};
|
||||
float data_m10_lower_bounded_ref[9] = {5, 7, 6, 8, 19, 12, 20, 16, 18};
|
||||
float data_m10_upper_bound[9] = {6, 4, 8, 18, 20, 11, 30, 16, 18};
|
||||
float data_m10_upper_bounded_ref[9] = {2, 4, 6, 8, 10, 11, 14, 16, 18};
|
||||
float data_m10_constrained_ref[9] = {5, NAN, 6, 8, 19, 11, 20, 16, 18};
|
||||
Matrix3f m10(data_m10);
|
||||
Matrix3f m10_lower_bound(data_m10_lower_bound);
|
||||
Matrix3f m10_lower_bounded_ref(data_m10_lower_bounded_ref);
|
||||
Matrix3f m10_upper_bound(data_m10_upper_bound);
|
||||
Matrix3f m10_upper_bounded_ref(data_m10_upper_bounded_ref);
|
||||
Matrix3f m10_constrained_ref(data_m10_constrained_ref);
|
||||
TEST(isEqual(max(m10, m10_lower_bound), m10_lower_bounded_ref));
|
||||
TEST(isEqual(max(m10_lower_bound, m10), m10_lower_bounded_ref));
|
||||
TEST(isEqual(min(m10, m10_upper_bound), m10_upper_bounded_ref));
|
||||
TEST(isEqual(min(m10_upper_bound, m9), m10_upper_bounded_ref));
|
||||
TEST(isEqual(constrain(m10, m10_lower_bound, m10_upper_bound), m10_constrained_ref));
|
||||
|
||||
// min, max, constrain with NAN
|
||||
TEST(isEqualF(matrix::typeFunction::min(5.f, NAN), 5.f));
|
||||
TEST(isEqualF(matrix::typeFunction::min(NAN, 5.f), 5.f));
|
||||
TEST(isEqualF(matrix::typeFunction::min(NAN, NAN), NAN));
|
||||
TEST(isEqualF(matrix::typeFunction::max(5.f, NAN), 5.f));
|
||||
TEST(isEqualF(matrix::typeFunction::max(NAN, 5.f), 5.f));
|
||||
TEST(isEqualF(matrix::typeFunction::max(NAN, NAN), NAN));
|
||||
TEST(isEqualF(matrix::typeFunction::constrain(NAN, 5.f, 6.f), NAN));
|
||||
TEST(isEqualF(matrix::typeFunction::constrain(1.f, 5.f, 4.f), NAN));
|
||||
TEST(isEqualF(matrix::typeFunction::constrain(6.f, NAN, 5.f), 5.f));
|
||||
TEST(isEqualF(matrix::typeFunction::constrain(1.f, 5.f, NAN), 5.f));
|
||||
Vector2f v1{NAN, 5.0f};
|
||||
Vector2f v1_min = min(v1, 1.f);
|
||||
Matrix3f m11 = min(m10_constrained_ref,NAN);
|
||||
TEST(isEqualF(fmin(NAN, 1.f), float(v1_min(0))));
|
||||
TEST(isEqual(m11, m10_constrained_ref));
|
||||
|
||||
// check write_string()
|
||||
float comma[6] = {
|
||||
1.f, 12345.123f,
|
||||
12345.1228f, .1234567891011f,
|
||||
12345678910.123456789f, 1234567891011.123456789101112f
|
||||
};
|
||||
Matrix<float, 3, 2> Comma(comma);
|
||||
const size_t len = 15*2*3 + 2 + 1;
|
||||
char buffer[len];
|
||||
Comma.print(); // for debugging in case of failure
|
||||
Comma.write_string(buffer, len);
|
||||
printf("%s\n", buffer); // for debugging in case of failure
|
||||
char output[] = "\t 1\t12345.123\n\t12345.123\t0.12345679\n\t1.2345679e+10\t1.234568e+12\n";
|
||||
printf("%s\n", output); // for debugging in case of failure
|
||||
for (size_t i = 0; i < len; i++) {
|
||||
if(buffer[i] != output[i]) { // for debugging in case of failure
|
||||
printf("%d: \"%c\" != \"%c\"", int(i), buffer[i], output[i]); // LCOV_EXCL_LINE only print on failure
|
||||
}
|
||||
TEST(buffer[i] == output[i]);
|
||||
if (buffer[i] == '\0') {
|
||||
break;
|
||||
}
|
||||
}
|
||||
|
||||
// check print()
|
||||
// Redirect stdout
|
||||
TEST(freopen("testoutput.txt", "w", stdout) != NULL);
|
||||
// write
|
||||
Comma.print();
|
||||
fclose(stdout);
|
||||
// read
|
||||
FILE *fp = fopen("testoutput.txt", "r");
|
||||
TEST(fp != nullptr);
|
||||
TEST(!fseek(fp, 0, SEEK_SET));
|
||||
for (size_t i = 0; i < len; i++) {
|
||||
char c = static_cast<char>(fgetc(fp));
|
||||
if (c == '\n') {
|
||||
break;
|
||||
}
|
||||
printf("%d %d %d\n", static_cast<int>(i), output[i], c);
|
||||
TEST(c == output[i]);
|
||||
}
|
||||
TEST(!fclose(fp));
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
|
||||
@@ -0,0 +1,71 @@
|
||||
#include "test_macros.hpp"
|
||||
#include <matrix/math.hpp>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
int main()
|
||||
{
|
||||
float data[9] = {1, 0, 0, 0, 1, 0, 1, 0, 1};
|
||||
Matrix3f A(data);
|
||||
|
||||
float data_check[9] = {1, 0, 0, 0, 1, 0, -1, 0, 1};
|
||||
Matrix3f A_I(data_check);
|
||||
Matrix3f I;
|
||||
I.setIdentity();
|
||||
Matrix3f R = A * A_I;
|
||||
TEST(isEqual(R, I));
|
||||
|
||||
Matrix3f R2 = A;
|
||||
R2 *= A_I;
|
||||
TEST(isEqual(R2, I));
|
||||
|
||||
TEST(R2==I);
|
||||
TEST(A!=A_I);
|
||||
Matrix3f A2 = eye<float, 3>()*2;
|
||||
Matrix3f B = A2.emult(A2);
|
||||
Matrix3f B_check = eye<float, 3>()*4;
|
||||
Matrix3f C_check = eye<float, 3>()*2;
|
||||
TEST(isEqual(B, B_check));
|
||||
Matrix3f C = B_check.edivide(C_check);
|
||||
|
||||
float off_diagonal_nan[9] = {2, NAN, NAN, NAN, 2, NAN, NAN, NAN, 2};
|
||||
// off diagonal are NANs because division by 0
|
||||
TEST(C == Matrix3f(off_diagonal_nan));
|
||||
|
||||
// Test non-square matrix
|
||||
float data_43[12] = {1,3,2,
|
||||
2,2,1,
|
||||
5,2,1,
|
||||
2,3,4
|
||||
};
|
||||
float data_32[6] = {2,3,
|
||||
1,7,
|
||||
5,4
|
||||
};
|
||||
|
||||
Matrix<float, 4, 3> m43(data_43);
|
||||
Matrix<float, 3, 2> m32(data_32);
|
||||
|
||||
Matrix<float, 4, 2> m42 = m43 * m32;
|
||||
|
||||
float data_42[8] = {15,32,
|
||||
11,24,
|
||||
17,33,
|
||||
27,43
|
||||
};
|
||||
Matrix<float, 4, 2> m42_check(data_42);
|
||||
TEST(isEqual(m42, m42_check))
|
||||
|
||||
float data_42_plus2[8] = {17,34,
|
||||
13,26,
|
||||
19,35,
|
||||
29,45
|
||||
};
|
||||
Matrix<float, 4, 2> m42_plus2_check(data_42_plus2);
|
||||
Matrix<float, 4, 2> m42_plus2 = m42 - (-2);
|
||||
TEST(isEqual(m42_plus2, m42_plus2_check));
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
|
||||
@@ -0,0 +1,18 @@
|
||||
#include "test_macros.hpp"
|
||||
|
||||
#include <matrix/math.hpp>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
int main()
|
||||
{
|
||||
float data[9] = {1, 2, 3, 4, 5, 6, 7, 8, 9};
|
||||
Matrix3f A(data);
|
||||
A = A * 2;
|
||||
float data_check[9] = {2, 4, 6, 8, 10, 12, 14, 16, 18};
|
||||
Matrix3f A_check(data_check);
|
||||
TEST(isEqual(A, A_check));
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
|
||||
@@ -0,0 +1,153 @@
|
||||
#include "test_macros.hpp"
|
||||
#include <matrix/PseudoInverse.hpp>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
static const size_t n_large = 20;
|
||||
|
||||
int main()
|
||||
{
|
||||
// 3x4 Matrix test
|
||||
float data0[12] = {
|
||||
0.f, 1.f, 2.f, 3.f,
|
||||
4.f, 5.f, 6.f, 7.f,
|
||||
8.f, 9.f, 10.f, 11.f
|
||||
};
|
||||
|
||||
float data0_check[12] = {
|
||||
-0.3375f, -0.1f, 0.1375f,
|
||||
-0.13333333f, -0.03333333f, 0.06666667f,
|
||||
0.07083333f, 0.03333333f, -0.00416667f,
|
||||
0.275f, 0.1f, -0.075f
|
||||
};
|
||||
|
||||
Matrix<float, 3, 4> A0(data0);
|
||||
Matrix<float, 4, 3> A0_I;
|
||||
bool ret = geninv(A0, A0_I);
|
||||
TEST(ret);
|
||||
Matrix<float, 4, 3> A0_I_check(data0_check);
|
||||
|
||||
TEST((A0_I - A0_I_check).abs().max() < 1e-5);
|
||||
|
||||
// 4x3 Matrix test
|
||||
float data1[12] = {
|
||||
0.f, 4.f, 8.f,
|
||||
1.f, 5.f, 9.f,
|
||||
2.f, 6.f, 10.f,
|
||||
3.f, 7.f, 11.f
|
||||
};
|
||||
|
||||
float data1_check[12] = {
|
||||
-0.3375f, -0.13333333f, 0.07083333f, 0.275f,
|
||||
-0.1f, -0.03333333f, 0.03333333f, 0.1f,
|
||||
0.1375f, 0.06666667f, -0.00416667f, -0.075f
|
||||
};
|
||||
|
||||
Matrix<float, 4, 3> A1(data1);
|
||||
Matrix<float, 3, 4> A1_I;
|
||||
ret = geninv(A1, A1_I);
|
||||
TEST(ret);
|
||||
Matrix<float, 3, 4> A1_I_check(data1_check);
|
||||
|
||||
TEST((A1_I - A1_I_check).abs().max() < 1e-5);
|
||||
|
||||
// Stess test
|
||||
Matrix<float, n_large, n_large - 1> A_large;
|
||||
A_large.setIdentity();
|
||||
Matrix<float, n_large - 1, n_large> A_large_I;
|
||||
|
||||
for (size_t i = 0; i < n_large; i++) {
|
||||
ret = geninv(A_large, A_large_I);
|
||||
TEST(ret);
|
||||
TEST(isEqual(A_large, A_large_I.T()));
|
||||
}
|
||||
|
||||
// Square matrix test
|
||||
float data2[9] = {0, 2, 3,
|
||||
4, 5, 6,
|
||||
7, 8, 10
|
||||
};
|
||||
float data2_check[9] = {
|
||||
-0.4f, -0.8f, 0.6f,
|
||||
-0.4f, 4.2f, -2.4f,
|
||||
0.6f, -2.8f, 1.6f
|
||||
};
|
||||
|
||||
SquareMatrix<float, 3> A2(data2);
|
||||
SquareMatrix<float, 3> A2_I;
|
||||
ret = geninv(A2, A2_I);
|
||||
TEST(ret);
|
||||
SquareMatrix<float, 3> A2_I_check(data2_check);
|
||||
TEST((A2_I - A2_I_check).abs().max() < 1e-3);
|
||||
|
||||
// Null matrix test
|
||||
Matrix<float, 6, 16> A3;
|
||||
Matrix<float, 16, 6> A3_I;
|
||||
ret = geninv(A3, A3_I);
|
||||
TEST(ret);
|
||||
Matrix<float, 16, 6> A3_I_check;
|
||||
TEST((A3_I - A3_I_check).abs().max() < 1e-5);
|
||||
|
||||
// Mock-up effectiveness matrix
|
||||
const float B_quad_w[6][16] = {
|
||||
{-0.5717536f, 0.43756646f, 0.5717536f, -0.43756646f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
|
||||
{ 0.35355328f, -0.35355328f, 0.35355328f, -0.35355328f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
|
||||
{ 0.28323701f, 0.28323701f, -0.28323701f, -0.28323701f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
|
||||
{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
|
||||
{ 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f},
|
||||
{-0.25f, -0.25f, -0.25f, -0.25f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f, 0.f}
|
||||
};
|
||||
Matrix<float, 6, 16> B = Matrix<float, 6, 16>(B_quad_w);
|
||||
const float A_quad_w[16][6] = {
|
||||
{ -0.495383f, 0.707107f, 0.765306f, 0.0f, 0.0f, -1.000000f },
|
||||
{ 0.495383f, -0.707107f, 1.000000f, 0.0f, 0.0f, -1.000000f },
|
||||
{ 0.495383f, 0.707107f, -0.765306f, 0.0f, 0.0f, -1.000000f },
|
||||
{ -0.495383f, -0.707107f, -1.000000f, 0.0f, 0.0f, -1.000000f },
|
||||
{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
|
||||
{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
|
||||
{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
|
||||
{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
|
||||
{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
|
||||
{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
|
||||
{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
|
||||
{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
|
||||
{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
|
||||
{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
|
||||
{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f},
|
||||
{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}
|
||||
};
|
||||
Matrix<float, 16, 6> A_check = Matrix<float, 16, 6>(A_quad_w);
|
||||
Matrix<float, 16, 6> A;
|
||||
ret = geninv(B, A);
|
||||
TEST(ret);
|
||||
TEST((A - A_check).abs().max() < 1e-5);
|
||||
|
||||
// Real-world test case
|
||||
const float real_alloc[5][6] = {
|
||||
{ 0.794079, 0.794079, 0.794079, 0.794079, 0.0000, 0.0000},
|
||||
{ 0.607814, 0.607814, 0.607814, 0.607814, 1.0000, 1.0000},
|
||||
{-0.672516, 0.915642, -0.915642, 0.672516, 0.0000, 0.0000},
|
||||
{ 0.159704, 0.159704, 0.159704, 0.159704, -0.2500, -0.2500},
|
||||
{ 0.607814, -0.607814, 0.607814, -0.607814, 1.0000, 1.0000}
|
||||
};
|
||||
Matrix<float, 5, 6> real ( real_alloc);
|
||||
Matrix<float, 6, 5> real_pinv;
|
||||
ret = geninv(real, real_pinv);
|
||||
TEST(ret);
|
||||
|
||||
// from SVD-based inverse
|
||||
const float real_pinv_expected_alloc[6][5] = {
|
||||
{ 2.096205, -2.722267, 2.056547, 1.503279, 3.098087},
|
||||
{ 1.612621, -1.992694, 2.056547, 1.131090, 2.275467},
|
||||
{-1.062688, 2.043479, -2.056547, -0.927950, -2.275467},
|
||||
{-1.546273, 2.773052, -2.056547, -1.300139, -3.098087},
|
||||
{-0.293930, 0.443445, 0.000000, -0.226222, 0.000000},
|
||||
{-0.293930, 0.443445, 0.000000, -0.226222, 0.000000}
|
||||
};
|
||||
Matrix<float, 6, 5> real_pinv_expected(real_pinv_expected_alloc);
|
||||
TEST((real_pinv - real_pinv_expected).abs().max() < 1e-4);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
|
||||
@@ -0,0 +1,39 @@
|
||||
#include "test_macros.hpp"
|
||||
#include <matrix/math.hpp>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
int main()
|
||||
{
|
||||
Matrix3f A;
|
||||
A.setIdentity();
|
||||
|
||||
for (size_t i = 0; i < 3; i++) {
|
||||
for (size_t j = 0; j < 3; j++) {
|
||||
if (i == j) {
|
||||
TEST(fabs(A(i, j) - 1) < FLT_EPSILON);
|
||||
|
||||
} else {
|
||||
TEST(fabs(A(i, j) - 0) < FLT_EPSILON);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
Matrix3f B;
|
||||
B.identity();
|
||||
|
||||
for (size_t i = 0; i < 3; i++) {
|
||||
for (size_t j = 0; j < 3; j++) {
|
||||
if (i == j) {
|
||||
TEST(fabs(B(i, j) - 1) < FLT_EPSILON);
|
||||
|
||||
} else {
|
||||
TEST(fabs(B(i, j) - 0) < FLT_EPSILON);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
|
||||
@@ -0,0 +1,235 @@
|
||||
#include "test_macros.hpp"
|
||||
#include <matrix/math.hpp>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
template class matrix::Slice<float, 2, 3, 4, 5>; // so that we get full coverage results
|
||||
|
||||
|
||||
int main()
|
||||
{
|
||||
float data[9] = {0, 2, 3,
|
||||
4, 5, 6,
|
||||
7, 8, 10
|
||||
};
|
||||
SquareMatrix<float, 3> A(data);
|
||||
|
||||
// Test row slicing
|
||||
Matrix<float, 2, 3> B_rowslice(A.slice<2, 3>(1, 0));
|
||||
float data_check_rowslice[6] = {
|
||||
4, 5, 6,
|
||||
7, 8, 10
|
||||
};
|
||||
Matrix<float, 2, 3> B_check_rowslice(data_check_rowslice);
|
||||
TEST(isEqual(B_rowslice, B_check_rowslice));
|
||||
|
||||
// Test column slicing
|
||||
Matrix<float, 3, 2> B_colslice(A.slice<3, 2>(0, 1));
|
||||
float data_check_colslice[6] = {
|
||||
2, 3,
|
||||
5, 6,
|
||||
8, 10
|
||||
};
|
||||
Matrix<float, 3, 2> B_check_colslice(data_check_colslice);
|
||||
TEST(isEqual(B_colslice, B_check_colslice));
|
||||
|
||||
// Test slicing both
|
||||
Matrix<float, 2, 2> B_bothslice(A.slice<2, 2>(1, 1));
|
||||
float data_check_bothslice[4] = {
|
||||
5, 6,
|
||||
8, 10
|
||||
};
|
||||
Matrix<float, 2, 2> B_check_bothslice(data_check_bothslice);
|
||||
TEST(isEqual(B_bothslice, B_check_bothslice));
|
||||
|
||||
//Test block writing
|
||||
float data_2[4] = {
|
||||
11, 12,
|
||||
13, 14
|
||||
};
|
||||
|
||||
Matrix<float, 2, 2> C(data_2);
|
||||
A.slice<2, 2>(1, 1) = C;
|
||||
|
||||
float data_2_check[9] = {
|
||||
0, 2, 3,
|
||||
4, 11, 12,
|
||||
7, 13, 14
|
||||
};
|
||||
Matrix<float, 3, 3> D(data_2_check);
|
||||
TEST(isEqual(A, D));
|
||||
|
||||
//Test writing to slices
|
||||
Matrix<float, 3, 1> E;
|
||||
E(0,0) = -1;
|
||||
E(1,0) = 1;
|
||||
E(2,0) = 3;
|
||||
|
||||
Matrix<float, 2, 1> F;
|
||||
F(0,0) = 9;
|
||||
F(1,0) = 11;
|
||||
|
||||
E.slice<2,1>(0,0) = F;
|
||||
|
||||
float data_3_check[3] = {9, 11, 3};
|
||||
Matrix<float, 3, 1> G (data_3_check);
|
||||
TEST(isEqual(E, G));
|
||||
TEST(isEqual(E, Matrix<float,3,1>(E.slice<3,1>(0,0))));
|
||||
|
||||
Matrix<float, 2, 1> H = E.slice<2,1>(0,0);
|
||||
TEST(isEqual(H,F));
|
||||
|
||||
float data_4_check[5] = {3, 11, 9, 0, 0};
|
||||
{ // assigning row slices to each other
|
||||
const Matrix<float, 3, 1> J (data_3_check);
|
||||
Matrix<float, 5, 1> K;
|
||||
K.row(2) = J.row(0);
|
||||
K.row(1) = J.row(1);
|
||||
K.row(0) = J.row(2);
|
||||
|
||||
Matrix<float, 5, 1> K_check(data_4_check);
|
||||
TEST(isEqual(K, K_check));
|
||||
}
|
||||
{ // assigning col slices to each other
|
||||
const Matrix<float, 1, 3> J (data_3_check);
|
||||
Matrix<float, 1, 5> K;
|
||||
K.col(2) = J.col(0);
|
||||
K.col(1) = J.col(1);
|
||||
K.col(0) = J.col(2);
|
||||
|
||||
Matrix<float, 1, 5> K_check(data_4_check);
|
||||
TEST(isEqual(K, K_check));
|
||||
}
|
||||
|
||||
// check that slice of a slice works for reading
|
||||
const Matrix<float, 3, 3> cm33(data);
|
||||
Matrix<float, 2, 1> topRight = cm33.slice<2,3>(0,0).slice<2,1>(0,2);
|
||||
float top_right_check[2] = {3,6};
|
||||
TEST(isEqual(topRight, Matrix<float, 2, 1>(top_right_check)));
|
||||
|
||||
// check that slice of a slice works for writing
|
||||
Matrix<float, 3, 3> m33(data);
|
||||
m33.slice<2,3>(0,0).slice<2,1>(0,2) = Matrix<float, 2, 1>();
|
||||
const float data_check[9] = {0, 2, 0,
|
||||
4, 5, 0,
|
||||
7, 8, 10
|
||||
};
|
||||
TEST(isEqual(m33, Matrix<float, 3, 3>(data_check)));
|
||||
|
||||
// longerThan
|
||||
Vector3f v5;
|
||||
v5(0) = 3;
|
||||
v5(1) = 4;
|
||||
v5(2) = 9;
|
||||
TEST(v5.xy().longerThan(4.99f));
|
||||
TEST(!v5.xy().longerThan(5.f));
|
||||
TEST(isEqualF(5.f, v5.xy().norm()));
|
||||
|
||||
// min/max
|
||||
TEST(m33.row(1).max() == 5);
|
||||
TEST(m33.col(0).min() == 0);
|
||||
TEST((m33.slice<2,2>(1,1).max()) == 10);
|
||||
|
||||
// assign scalar value to slice
|
||||
Matrix<float, 3, 1> L;
|
||||
L(0,0) = -1;
|
||||
L(1,0) = 1;
|
||||
L(2,0) = 3;
|
||||
|
||||
L.slice<2,1>(0,0) = 0.0f;
|
||||
|
||||
float data_5_check[3] = {0, 0, 3};
|
||||
Matrix<float, 3, 1> M (data_5_check);
|
||||
TEST(isEqual(L, M));
|
||||
|
||||
// return diagonal elements
|
||||
float data_6[9] = {0, 2, 3,
|
||||
4, 5, 6,
|
||||
7, 8, 10
|
||||
};
|
||||
SquareMatrix<float, 3> N(data_6);
|
||||
|
||||
Vector3f v6 = N.slice<3,3>(0,0).diag();
|
||||
Vector3f v6_check = {0, 5, 10};
|
||||
TEST(isEqual(v6,v6_check));
|
||||
Vector2f v7 = N.slice<2,3>(1,0).diag();
|
||||
Vector2f v7_check = {4, 8};
|
||||
TEST(isEqual(v7,v7_check));
|
||||
Vector2f v8 = N.slice<3,2>(0,1).diag();
|
||||
Vector2f v8_check = {2, 6};
|
||||
TEST(isEqual(v8,v8_check));
|
||||
Vector2f v9(N.slice<1,2>(1,1));
|
||||
Vector2f v9_check = {5, 6};
|
||||
TEST(isEqual(v9,v9_check));
|
||||
Vector3f v10(N.slice<1,3>(1,0));
|
||||
Vector3f v10_check = {4, 5, 6};
|
||||
TEST(isEqual(v10,v10_check));
|
||||
|
||||
// Different assignment operators
|
||||
SquareMatrix3f O(data);
|
||||
float operand_data [4] = {2, 1, -3, -1};
|
||||
const SquareMatrix<float, 2> operand(operand_data);
|
||||
|
||||
O.slice<2,2>(1,0) += operand;
|
||||
float O_check_data_1 [9] = {0, 2, 3, 6, 6, 6, 4, 7, 10};
|
||||
TEST(isEqual(O, SquareMatrix3f(O_check_data_1)));
|
||||
|
||||
O = SquareMatrix3f(data);
|
||||
O.slice<2,1>(1,1) += operand.slice<2,1>(0,0);
|
||||
float O_check_data_2 [9] = {0, 2, 3, 4, 7, 6, 7, 5, 10};
|
||||
TEST(isEqual(O, SquareMatrix3f(O_check_data_2)));
|
||||
|
||||
O = SquareMatrix3f(data);
|
||||
O.slice<3,3>(0,0) += -1;
|
||||
float O_check_data_3 [9] = {-1, 1, 2, 3, 4, 5, 6, 7, 9};
|
||||
TEST(isEqual(O, SquareMatrix3f(O_check_data_3)));
|
||||
|
||||
O = SquareMatrix3f(data);
|
||||
O.col(1) += Vector3f{1, -2, 3};
|
||||
float O_check_data_4 [9] = {0, 3, 3, 4, 3, 6, 7, 11, 10};
|
||||
TEST(isEqual(O, SquareMatrix3f(O_check_data_4)));
|
||||
|
||||
O = SquareMatrix3f(data);
|
||||
O.slice<2,2>(1,0) -= operand;
|
||||
float O_check_data_5 [9] = {0, 2, 3, 2, 4, 6, 10, 9, 10};
|
||||
TEST(isEqual(O, SquareMatrix3f(O_check_data_5)));
|
||||
|
||||
O = SquareMatrix3f(data);
|
||||
O.slice<2,1>(1,1) -= operand.slice<2,1>(0,0);
|
||||
float O_check_data_6 [9] = {0, 2, 3, 4, 3, 6, 7, 11, 10};
|
||||
TEST(isEqual(O, SquareMatrix3f(O_check_data_6)));
|
||||
|
||||
O = SquareMatrix3f(data);
|
||||
O.slice<3,3>(0,0) -= -1;
|
||||
float O_check_data_7 [9] = {1, 3, 4, 5, 6, 7, 8, 9, 11};
|
||||
TEST(isEqual(O, SquareMatrix3f(O_check_data_7)));
|
||||
|
||||
O = SquareMatrix3f(data);
|
||||
O.col(1) -= Vector3f{1, -2, 3};
|
||||
float O_check_data_8 [9] = {0, 1, 3, 4, 7, 6, 7, 5, 10};
|
||||
TEST(isEqual(O, SquareMatrix3f(O_check_data_8)));
|
||||
|
||||
O = SquareMatrix3f(data);
|
||||
O.slice<2,1>(1,1) *= 5.f;
|
||||
float O_check_data_9 [9] = {0, 2, 3, 4, 25, 6, 7, 40, 10};
|
||||
TEST(isEqual(O, SquareMatrix3f(O_check_data_9)));
|
||||
|
||||
O = SquareMatrix3f(data);
|
||||
O.slice<2,1>(1,1) /= 2.f;
|
||||
float O_check_data_10 [9] = {0, 2, 3, 4, 2.5, 6, 7, 4, 10};
|
||||
TEST(isEqual(O, SquareMatrix3f(O_check_data_10)));
|
||||
|
||||
// Different operations
|
||||
O = SquareMatrix3f(data);
|
||||
SquareMatrix<float, 2> res_11(O.slice<2,2>(1,1) * 2.f);
|
||||
float O_check_data_11 [4] = {10, 12, 16, 20};
|
||||
TEST(isEqual(res_11, SquareMatrix<float, 2>(O_check_data_11)));
|
||||
|
||||
O = SquareMatrix3f(data);
|
||||
SquareMatrix<float, 2> res_12(O.slice<2,2>(1,1) / 2.f);
|
||||
float O_check_data_12 [4] = {2.5, 3, 4, 5};
|
||||
TEST(isEqual(res_12, SquareMatrix<float, 2>(O_check_data_12)));
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
|
||||
@@ -0,0 +1,119 @@
|
||||
#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, accessDataWithCompressedIndices) {
|
||||
const Vector3f vec(1.f, 2.f, 3.f);
|
||||
SparseVectorf<3, 0, 2> a(vec);
|
||||
for (size_t i = 0; i < a.non_zeros(); i++) {
|
||||
a.atCompressedIndex(i) = static_cast<float>(i);
|
||||
}
|
||||
EXPECT_FLOAT_EQ(a.at<0>(), a.atCompressedIndex(0));
|
||||
EXPECT_FLOAT_EQ(a.at<2>(), a.atCompressedIndex(1));
|
||||
}
|
||||
|
||||
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, quadraticForm) {
|
||||
float matrix_data[9] = {1, 2, 3,
|
||||
2, 4, 5,
|
||||
3, 5, 6
|
||||
};
|
||||
const SquareMatrix<float, 3> dense_matrix(matrix_data);
|
||||
const Vector3f dense_vec(0.f, 1.f, 5.f);
|
||||
const SparseVectorf<3, 1, 2> sparse_vec(dense_vec);
|
||||
EXPECT_FLOAT_EQ(quadraticForm(dense_matrix, sparse_vec), 204.f);
|
||||
}
|
||||
|
||||
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();
|
||||
}
|
||||
@@ -0,0 +1,148 @@
|
||||
#include "test_macros.hpp"
|
||||
|
||||
#include <matrix/math.hpp>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
int main()
|
||||
{
|
||||
float data[9] = {1, 2, 3,
|
||||
4, 5, 6,
|
||||
7, 8, 10
|
||||
};
|
||||
SquareMatrix<float, 3> A(data);
|
||||
Vector3<float> diag_check(1, 5, 10);
|
||||
|
||||
TEST(isEqual(A.diag(), diag_check));
|
||||
TEST(A.trace() - 16 < FLT_EPSILON);
|
||||
|
||||
float data_check[9] = {
|
||||
1.01158503f, 0.02190432f, 0.03238144f,
|
||||
0.04349195f, 1.05428524f, 0.06539627f,
|
||||
0.07576783f, 0.08708946f, 1.10894048f
|
||||
};
|
||||
|
||||
float dt = 0.01f;
|
||||
SquareMatrix<float, 3> eA = expm(SquareMatrix<float, 3>(A*dt), 5);
|
||||
SquareMatrix<float, 3> eA_check(data_check);
|
||||
TEST((eA - eA_check).abs().max() < 1e-3f);
|
||||
|
||||
SquareMatrix<float, 2> A_bottomright = A.slice<2,2>(1,1);
|
||||
SquareMatrix<float, 2> A_bottomright2;
|
||||
A_bottomright2 = A.slice<2,2>(1,1);
|
||||
|
||||
float data_bottomright[4] = {5, 6,
|
||||
8, 10
|
||||
};
|
||||
SquareMatrix<float, 2> bottomright_check(data_bottomright);
|
||||
TEST(isEqual(A_bottomright, bottomright_check));
|
||||
TEST(isEqual(A_bottomright2, bottomright_check));
|
||||
|
||||
// test diagonal functions
|
||||
float data_4x4[16] = {1, 2, 3, 4,
|
||||
5, 6, 7, 8,
|
||||
9, 10, 11, 12,
|
||||
13, 14,15, 16
|
||||
};
|
||||
|
||||
SquareMatrix<float, 4> B(data_4x4);
|
||||
B.uncorrelateCovariance<1>(1);
|
||||
float data_B_check[16] = {1, 0, 3, 4,
|
||||
0, 6, 0, 0,
|
||||
9, 0, 11, 12,
|
||||
13, 0,15, 16
|
||||
};
|
||||
SquareMatrix<float, 4> B_check(data_B_check);
|
||||
TEST(isEqual(B, B_check))
|
||||
|
||||
SquareMatrix<float, 4> C(data_4x4);
|
||||
C.uncorrelateCovariance<2>(1);
|
||||
float data_C_check[16] = {1, 0, 0, 4,
|
||||
0, 6, 0, 0,
|
||||
0, 0, 11, 0,
|
||||
13, 0,0, 16
|
||||
};
|
||||
SquareMatrix<float, 4> C_check(data_C_check);
|
||||
TEST(isEqual(C, C_check))
|
||||
|
||||
SquareMatrix<float, 4> D(data_4x4);
|
||||
D.uncorrelateCovarianceSetVariance<2>(0, Vector2f{20,21});
|
||||
float data_D_check[16] = {20, 0, 0, 0,
|
||||
0, 21, 0, 0,
|
||||
0, 0, 11, 12,
|
||||
0, 0,15, 16
|
||||
};
|
||||
SquareMatrix<float, 4> D_check(data_D_check);
|
||||
TEST(isEqual(D, D_check))
|
||||
|
||||
SquareMatrix<float, 4> E(data_4x4);
|
||||
E.uncorrelateCovarianceSetVariance<3>(1, 33);
|
||||
float data_E_check[16] = {1, 0, 0, 0,
|
||||
0, 33, 0, 0,
|
||||
0, 0, 33, 0,
|
||||
0, 0,0, 33
|
||||
};
|
||||
SquareMatrix<float, 4> E_check(data_E_check);
|
||||
TEST(isEqual(E, E_check))
|
||||
|
||||
// test symmetric functions
|
||||
SquareMatrix<float, 4> F(data_4x4);
|
||||
F.makeBlockSymmetric<2>(1);
|
||||
float data_F_check[16] = {1, 2, 3, 4,
|
||||
5, 6, 8.5, 8,
|
||||
9, 8.5, 11, 12,
|
||||
13, 14,15, 16
|
||||
};
|
||||
SquareMatrix<float, 4> F_check(data_F_check);
|
||||
TEST(isEqual(F, F_check))
|
||||
TEST(F.isBlockSymmetric<2>(1));
|
||||
TEST(!F.isRowColSymmetric<2>(1));
|
||||
|
||||
SquareMatrix<float, 4> G(data_4x4);
|
||||
G.makeRowColSymmetric<2>(1);
|
||||
float data_G_check[16] = {1, 3.5, 6, 4,
|
||||
3.5, 6, 8.5, 11,
|
||||
6, 8.5, 11, 13.5,
|
||||
13, 11,13.5, 16
|
||||
};
|
||||
SquareMatrix<float, 4> G_check(data_G_check);
|
||||
TEST(isEqual(G, G_check));
|
||||
TEST(G.isBlockSymmetric<2>(1));
|
||||
TEST(G.isRowColSymmetric<2>(1));
|
||||
|
||||
SquareMatrix<float, 4> H(data_4x4);
|
||||
H.makeBlockSymmetric<1>(1);
|
||||
float data_H_check[16] = {1, 2, 3, 4,
|
||||
5, 6, 7, 8,
|
||||
9, 10, 11, 12,
|
||||
13, 14,15, 16
|
||||
};
|
||||
SquareMatrix<float, 4> H_check(data_H_check);
|
||||
TEST(isEqual(H, H_check))
|
||||
TEST(H.isBlockSymmetric<1>(1));
|
||||
TEST(!H.isRowColSymmetric<1>(1));
|
||||
|
||||
SquareMatrix<float, 4> J(data_4x4);
|
||||
J.makeRowColSymmetric<1>(1);
|
||||
float data_J_check[16] = {1, 3.5, 3, 4,
|
||||
3.5, 6, 8.5, 11,
|
||||
9, 8.5, 11, 12,
|
||||
13, 11,15, 16
|
||||
};
|
||||
SquareMatrix<float, 4> J_check(data_J_check);
|
||||
TEST(isEqual(J, J_check));
|
||||
TEST(J.isBlockSymmetric<1>(1));
|
||||
TEST(J.isRowColSymmetric<1>(1));
|
||||
TEST(!J.isBlockSymmetric<3>(1));
|
||||
|
||||
float data_K[16] = {1, 2, 3, 4,
|
||||
2, 3, 4, 11,
|
||||
3, 4, 11, 12,
|
||||
4, 11,15, 16
|
||||
};
|
||||
SquareMatrix<float, 4> K(data_K);
|
||||
TEST(!K.isRowColSymmetric<1>(2));
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
|
||||
@@ -0,0 +1,149 @@
|
||||
from __future__ import print_function
|
||||
from pylab import *
|
||||
from pprint import pprint
|
||||
import scipy.linalg
|
||||
|
||||
# test cases, derived from doc/nasa_rotation_def.pdf
|
||||
|
||||
#pylint: disable=all
|
||||
|
||||
def euler_to_quat(phi, theta, psi):
|
||||
"Quaternion from (body 3(psi)-2(theta)-1(phi) euler angles"
|
||||
s1 = sin(psi/2)
|
||||
c1 = cos(psi/2)
|
||||
s2 = sin(theta/2)
|
||||
c2 = cos(theta/2)
|
||||
s3 = sin(phi/2)
|
||||
c3 = cos(phi/2)
|
||||
return array([
|
||||
s1*s2*s3 + c1*c2*c3,
|
||||
-s1*s2*c3 + s3*c1*c2,
|
||||
s1*s3*c2 + s2*c1*c3,
|
||||
s1*c2*c3 - s2*s3*c1
|
||||
])
|
||||
|
||||
def euler_to_dcm(phi, theta, psi):
|
||||
s1 = sin(psi)
|
||||
c1 = cos(psi)
|
||||
s2 = sin(theta)
|
||||
c2 = cos(theta)
|
||||
s3 = sin(phi)
|
||||
c3 = cos(phi)
|
||||
return array([
|
||||
[c1*c2, c1*s2*s3 - s1*c3, c1*s2*c3 + s1*s3],
|
||||
[s1*c2, s1*s2*s3 + c1*c3, s1*s2*c3 - c1*s3],
|
||||
[-s2, c2*s3, c2*c3],
|
||||
])
|
||||
|
||||
def quat_prod(q, r):
|
||||
"Quaternion product"
|
||||
return array([
|
||||
r[0]*q[0] - r[1]*q[1] - r[2]*q[2] - r[3]*q[3],
|
||||
r[0]*q[1] + r[1]*q[0] - r[2]*q[3] + r[3]*q[2],
|
||||
r[0]*q[2] + r[1]*q[3] + r[2]*q[0] - r[3]*q[1],
|
||||
r[0]*q[3] - r[1]*q[2] + r[2]*q[1] + r[3]*q[0]
|
||||
])
|
||||
|
||||
def dcm_to_euler(dcm):
|
||||
return array([
|
||||
arctan(dcm[2,1]/ dcm[2,2]),
|
||||
arctan(-dcm[2,0]/ sqrt(1 - dcm[2,0]**2)),
|
||||
arctan(dcm[1,0]/ dcm[0,0]),
|
||||
])
|
||||
|
||||
def dcm_from_quat(q):
|
||||
q1 = q[0]
|
||||
q2 = q[1]
|
||||
q3 = q[2]
|
||||
q4 = q[3]
|
||||
return array([
|
||||
[q1*q1 + q2*q2 - q3*q3 - q4*q4, 2*(q2*q3 - q1*q4), 2*(q2*q4 + q1*q3)],
|
||||
[2*(q2*q3 + q1*q4), q1*q1 - q2*q2 + q3*q3 - q4*q4, 2*(q3*q4 - q1*q2)],
|
||||
[2*(q2*q4 - q1*q3), 2*(q3*q4 + q1*q2), q1*q1 - q2*q2 - q3*q3 + q4*q4]
|
||||
])
|
||||
|
||||
def quat_to_euler(q):
|
||||
"Quaternion to (body 3(psi)-2(theta)-1(phi) euler angles"
|
||||
return dcm_to_euler(dcm_from_quat(q))
|
||||
|
||||
def quat_to_dcm(q):
|
||||
return euler_to_dcm(quat_to_euler(q))
|
||||
|
||||
phi = 0.1
|
||||
theta = 0.2
|
||||
psi = 0.3
|
||||
print('euler', phi, theta, psi)
|
||||
|
||||
q = euler_to_quat(phi, theta, psi)
|
||||
assert(abs(norm(q) - 1) < FLT_EPSILON)
|
||||
assert(abs(norm(q) - 1) < FLT_EPSILON)
|
||||
assert(norm(array(quat_to_euler(q)) - array([phi, theta, psi])) < FLT_EPSILON)
|
||||
print('\nq:')
|
||||
pprint(q)
|
||||
|
||||
dcm = euler_to_dcm(phi, theta, psi)
|
||||
assert(norm(dcm[:,0]) == 1)
|
||||
assert(norm(dcm[:,1]) == 1)
|
||||
assert(norm(dcm[:,2]) == 1)
|
||||
assert(abs(dcm[:,0].dot(dcm[:,1])) < FLT_EPSILON)
|
||||
assert(abs(dcm[:,0].dot(dcm[:,2])) < FLT_EPSILON)
|
||||
print('\ndcm:')
|
||||
pprint(dcm)
|
||||
|
||||
print('\nq*q', quat_prod(q, q))
|
||||
|
||||
q2 = quat_prod(q, q)
|
||||
pprint(q2)
|
||||
print(norm(q2))
|
||||
|
||||
print('\nq3:')
|
||||
q3 = array([1,2,3,4])
|
||||
pprint(q3)
|
||||
print('\nq3_norm:')
|
||||
q3_norm =q3 / norm(q3)
|
||||
pprint(q3_norm)
|
||||
|
||||
print('\ninverse')
|
||||
A = array([[0,2,3], [4,5,6], [7,8,10]])
|
||||
pprint(A)
|
||||
pprint(inv(A))
|
||||
|
||||
print('\nmatrix exponential')
|
||||
A = 0.01*array([[1.0,2.0,3.0], [4.0,5.0,6.0], [7.0,8.0,10.0]])
|
||||
eA_check = scipy.linalg.expm(A)
|
||||
|
||||
pprint(eA_check)
|
||||
|
||||
eA_approx = eye(3)
|
||||
k = 1.0
|
||||
A_pow = A
|
||||
for i in range(1,3):
|
||||
k *= i
|
||||
# print(i, k, '\n', A_pow/k, '\n')
|
||||
eA_approx += A_pow/k
|
||||
A_pow = A_pow.dot(A)
|
||||
print(eA_approx)
|
||||
|
||||
print('\nqr decomposition 4x4')
|
||||
A = array([[20.0, -10.0, -13.0, 21.0], [ 17.0, 16.0, -18.0, -14], [0.7, -0.8, 0.9, -0.5], [-1.0, -1.1, -1.2, -1.3]])
|
||||
b = array([[2.], [3.], [4.], [5.]])
|
||||
x = scipy.linalg.lstsq(A,b)[0]
|
||||
print('A:')
|
||||
pprint(A)
|
||||
print('b:')
|
||||
pprint(b)
|
||||
print('x:')
|
||||
pprint(scipy.linalg.lstsq(A,b)[0])
|
||||
|
||||
print('\nqr decomposition 4x3')
|
||||
A = array([[20.0, -10.0, -13.0], [ 17.0, 16.0, -18.0], [0.7, -0.8, 0.9], [-1.0, -1.1, -1.2]])
|
||||
b = array([[2.], [3.], [4.], [5.]])
|
||||
x = scipy.linalg.lstsq(A,b)[0]
|
||||
print('A:')
|
||||
pprint(A)
|
||||
print('b:')
|
||||
pprint(b)
|
||||
print('x:')
|
||||
pprint(x)
|
||||
|
||||
# vim: set et ft=python fenc=utf-8 ff=unix sts=4 sw=4 ts=8 :
|
||||
@@ -0,0 +1,46 @@
|
||||
/**
|
||||
* @file test_marcos.hpp
|
||||
*
|
||||
* Helps with cmake testing.
|
||||
*
|
||||
* @author James Goppert <james.goppert@gmail.com>
|
||||
* Pavel Kirienko <pavel.kirienko@zubax.com>
|
||||
*/
|
||||
#pragma once
|
||||
|
||||
#include <cstdio>
|
||||
#include <cmath> // cmath has to be introduced BEFORE we poison the C library identifiers
|
||||
|
||||
#define TEST(X) if(!(X)) { fprintf(stderr, "test failed on %s:%d\n", __FILE__, __LINE__); return -1;}
|
||||
|
||||
/**
|
||||
* This construct is needed to catch any unintended use of the C standard library.
|
||||
* Feel free to extend the list of poisoned identifiers with as many C functions as possible.
|
||||
* The current list was constructed by means of automated parsing of http://en.cppreference.com/w/c/numeric/math
|
||||
*/
|
||||
#ifdef __GNUC__
|
||||
|
||||
// float functions
|
||||
# pragma GCC poison fabsf fmodf
|
||||
# pragma GCC poison remainderf remquof fmaf fmaxf fminf fdimf fnanf expf
|
||||
# pragma GCC poison exp2f expm1f logf log10f log2f log1pf powf sqrtf cbrtf
|
||||
# pragma GCC poison hypotf sinf cosf tanf asinf acosf atanf atan2f sinhf
|
||||
# pragma GCC poison coshf tanhf asinhf acoshf atanhf erff erfcf tgammaf
|
||||
# pragma GCC poison lgammaf ceilf floorf truncf roundf nearbyintf rintf
|
||||
# pragma GCC poison frexpf ldexpf modff scalbnf ilogbf logbf nextafterf
|
||||
# pragma GCC poison copysignf
|
||||
|
||||
// the list of double functions is missing because otherwise most functions from std:: would be also poisoned,
|
||||
// which we don't want
|
||||
|
||||
// long double functions
|
||||
# pragma GCC poison fabsl fabsl fabsl fmodl
|
||||
# pragma GCC poison remainderl remquol fmal fmaxl fminl fdiml fnanl expl
|
||||
# pragma GCC poison exp2l expm1l logl log10l log2l log1pl powl sqrtl cbrtl
|
||||
# pragma GCC poison hypotl sinl cosl tanl asinl acosl atanl atan2l sinhl
|
||||
# pragma GCC poison coshl tanhl asinhl acoshl atanhl erfl erfcl tgammal
|
||||
# pragma GCC poison lgammal ceill floorl truncl roundl nearbyintl rintl
|
||||
# pragma GCC poison frexpl ldexpl modfl scalbnl ilogbl logbl nextafterl
|
||||
# pragma GCC poison copysignl
|
||||
|
||||
#endif
|
||||
@@ -0,0 +1,19 @@
|
||||
#include "test_macros.hpp"
|
||||
|
||||
#include <matrix/math.hpp>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
int main()
|
||||
{
|
||||
float data[6] = {1, 2, 3, 4, 5, 6};
|
||||
Matrix<float, 2, 3> A(data);
|
||||
Matrix<float, 3, 2> A_T = A.transpose();
|
||||
float data_check[6] = {1, 4, 2, 5, 3, 6};
|
||||
Matrix<float, 3, 2> A_T_check(data_check);
|
||||
TEST(isEqual(A_T, A_T_check));
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
|
||||
@@ -0,0 +1,23 @@
|
||||
#include "test_macros.hpp"
|
||||
#include <matrix/math.hpp>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
int main()
|
||||
{
|
||||
float data[9] = {1, 2, 3,
|
||||
4, 5, 6,
|
||||
7, 8, 10
|
||||
};
|
||||
float urt[6] = {1, 2, 3, 5, 6, 10};
|
||||
|
||||
SquareMatrix<float, 3> A(data);
|
||||
|
||||
for(size_t i=0; i<6; i++) {
|
||||
TEST(fabs(urt[i] - A.upper_right_triangle()(i)) < FLT_EPSILON);
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
|
||||
@@ -0,0 +1,48 @@
|
||||
#include "test_macros.hpp"
|
||||
|
||||
#include <matrix/math.hpp>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
int main()
|
||||
{
|
||||
// test data
|
||||
float data1[] = {1,2,3,4,5};
|
||||
float data2[] = {6,7,8,9,10};
|
||||
Vector<float, 5> v1(data1);
|
||||
Vector<float, 5> v2(data2);
|
||||
|
||||
// copy constructor
|
||||
Vector<float, 5> v3(v2);
|
||||
TEST(isEqual(v2, v3));
|
||||
|
||||
// norm, dot product
|
||||
TEST(isEqualF(v1.norm(), 7.416198487095663f));
|
||||
TEST(isEqualF(v1.norm_squared(), v1.norm() * v1.norm()));
|
||||
TEST(isEqualF(v1.norm(), v1.length()));
|
||||
TEST(isEqualF(v1.dot(v2), 130.0f));
|
||||
TEST(isEqualF(v1.dot(v2), v1 * v2));
|
||||
|
||||
// unit, unit_zero, normalize
|
||||
TEST(isEqualF(v2.unit().norm(), 1.f));
|
||||
TEST(isEqualF(v2.unit_or_zero().norm(), 1.f));
|
||||
TEST(isEqualF(Vector<float, 5>().unit_or_zero().norm(), 0.f));
|
||||
v2.normalize();
|
||||
TEST(isEqualF(v2.norm(), 1.f));
|
||||
|
||||
// sqrt
|
||||
float data1_sq[] = {1,4,9,16,25};
|
||||
Vector<float, 5> v4(data1_sq);
|
||||
TEST(isEqual(v1, v4.sqrt()));
|
||||
|
||||
// longerThan
|
||||
Vector<float, 2> v5;
|
||||
v5(0) = 3;
|
||||
v5(1) = 4;
|
||||
TEST(v5.longerThan(4.99f));
|
||||
TEST(!v5.longerThan(5.f));
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
|
||||
@@ -0,0 +1,40 @@
|
||||
|
||||
|
||||
#include <matrix/math.hpp>
|
||||
|
||||
#include "test_macros.hpp"
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
int main()
|
||||
{
|
||||
Vector2f a(1, 0);
|
||||
Vector2f b(0, 1);
|
||||
TEST(fabs(a % b - 1.0f) < FLT_EPSILON);
|
||||
|
||||
Vector2f c;
|
||||
TEST(fabs(c(0) - 0) < FLT_EPSILON);
|
||||
TEST(fabs(c(1) - 0) < FLT_EPSILON);
|
||||
|
||||
Matrix<float, 2, 1> d(a);
|
||||
TEST(fabs(d(0,0) - 1) < FLT_EPSILON);
|
||||
TEST(fabs(d(1,0) - 0) < FLT_EPSILON);
|
||||
|
||||
Vector2f e(d);
|
||||
TEST(fabs(e(0) - 1) < FLT_EPSILON);
|
||||
TEST(fabs(e(1) - 0) < FLT_EPSILON);
|
||||
|
||||
float data[] = {4,5};
|
||||
Vector2f f(data);
|
||||
TEST(fabs(f(0) - 4) < FLT_EPSILON);
|
||||
TEST(fabs(f(1) - 5) < FLT_EPSILON);
|
||||
|
||||
Vector3f g(1.23f, 423.4f, 3221.f);
|
||||
Vector2f h(g);
|
||||
TEST(fabs(h(0) - 1.23f) < FLT_EPSILON);
|
||||
TEST(fabs(h(1) - 423.4f) < FLT_EPSILON);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
|
||||
@@ -0,0 +1,61 @@
|
||||
#include "test_macros.hpp"
|
||||
|
||||
#include <matrix/math.hpp>
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
int main()
|
||||
{
|
||||
Vector3f a(1, 0, 0);
|
||||
Vector3f b(0, 1, 0);
|
||||
Vector3f c = a.cross(b);
|
||||
TEST(isEqual(c, Vector3f(0,0,1)));
|
||||
c = a % b;
|
||||
TEST(isEqual(c, Vector3f(0,0,1)));
|
||||
Matrix<float, 3, 1> d(c);
|
||||
Vector3f e(d);
|
||||
TEST(isEqual(e, d));
|
||||
float data[] = {4, 5, 6};
|
||||
Vector3f f(data);
|
||||
TEST(isEqual(f, Vector3f(4, 5, 6)));
|
||||
|
||||
TEST(isEqual(a + b, Vector3f(1, 1, 0)));
|
||||
TEST(isEqual(a - b, Vector3f(1, -1, 0)));
|
||||
TEST(isEqualF(a * b, 0.0f));
|
||||
TEST(isEqual(-a, Vector3f(-1, 0, 0)));
|
||||
TEST(isEqual(a.unit(), a));
|
||||
TEST(isEqual(a.unit(), a.normalized()));
|
||||
TEST(isEqual(a*2.0, Vector3f(2, 0, 0)));
|
||||
|
||||
Vector2f g2(1,3);
|
||||
Vector3f g3(7, 11, 17);
|
||||
g3.xy() = g2;
|
||||
TEST(isEqual(g3, Vector3f(1, 3, 17)));
|
||||
|
||||
const Vector3f g4(g3);
|
||||
Vector2f g5 = g4.xy();
|
||||
TEST(isEqual(g5,g2));
|
||||
TEST(isEqual(g2,Vector2f(g4.xy())));
|
||||
|
||||
Vector3f h;
|
||||
TEST(isEqual(h,Vector3f(0,0,0)));
|
||||
|
||||
Vector<float, 4> j;
|
||||
j(0) = 1;
|
||||
j(1) = 2;
|
||||
j(2) = 3;
|
||||
j(3) = 4;
|
||||
|
||||
Vector3f k = j.slice<3,1>(0,0);
|
||||
Vector3f k_test(1,2,3);
|
||||
TEST(isEqual(k,k_test));
|
||||
|
||||
Vector3f m1(1, 2, 3);
|
||||
Vector3f m2(3.1f, 4.1f, 5.1f);
|
||||
TEST(isEqual(m2, m1 + 2.1f));
|
||||
TEST(isEqual(m2 - 2.1f, m1));
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
|
||||
@@ -0,0 +1,34 @@
|
||||
#include <matrix/math.hpp>
|
||||
|
||||
#include "test_macros.hpp"
|
||||
|
||||
using namespace matrix;
|
||||
|
||||
int main()
|
||||
{
|
||||
Vector3f v;
|
||||
v(0) = 1;
|
||||
v(1) = 2;
|
||||
v(2) = 3;
|
||||
|
||||
static const float eps = 1e-7f;
|
||||
|
||||
TEST(fabs(v(0) - 1) < eps);
|
||||
TEST(fabs(v(1) - 2) < eps);
|
||||
TEST(fabs(v(2) - 3) < eps);
|
||||
|
||||
Vector3f v2(4, 5, 6);
|
||||
|
||||
TEST(fabs(v2(0) - 4) < eps);
|
||||
TEST(fabs(v2(1) - 5) < eps);
|
||||
TEST(fabs(v2(2) - 6) < eps);
|
||||
|
||||
SquareMatrix<float, 3> m = diag(Vector3f(1,2,3));
|
||||
TEST(fabs(m(0, 0) - 1) < eps);
|
||||
TEST(fabs(m(1, 1) - 2) < eps);
|
||||
TEST(fabs(m(2, 2) - 3) < eps);
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
|
||||
Reference in New Issue
Block a user