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Matrix: convert multiplication test to gtest

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This commit is contained in:
Matthias Grob
2022-02-23 15:00:38 +01:00
parent 719898f1e3
commit 57e443c4a4
3 changed files with 101 additions and 71 deletions
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src/lib/matrix/test/CMakeLists.txt
+1 -1
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@@ -8,7 +8,6 @@ add_compile_options(
set(tests
setIdentity
slice
matrixMult
vectorAssignment
matrixScalarMult
transpose
@@ -43,5 +42,6 @@ px4_add_unit_gtest(SRC MatrixHelperTest.cpp)
px4_add_unit_gtest(SRC MatrixIntegralTest.cpp)
px4_add_unit_gtest(SRC MatrixInverseTest.cpp)
px4_add_unit_gtest(SRC MatrixLeastSquaresTest.cpp)
px4_add_unit_gtest(SRC MatrixMultiplicationTest.cpp)
px4_add_unit_gtest(SRC MatrixSparseVectorTest.cpp)
px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)
src/lib/matrix/test/MatrixMultiplicationTest.cpp
+100
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@@ -0,0 +1,100 @@
/****************************************************************************
*
* Copyright (C) 2022 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
#include <gtest/gtest.h>
#include <matrix/math.hpp>
using namespace matrix;
TEST(MatrixMultiplicationTest, Multiplication)
{
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;
EXPECT_EQ(R, I);
Matrix3f R2 = A;
R2 *= A_I;
EXPECT_EQ(R2, I);
EXPECT_EQ(R2, I);
EXPECT_NE(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;
EXPECT_EQ(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
EXPECT_EQ(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);
EXPECT_EQ(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);
EXPECT_EQ(m42_plus2, m42_plus2_check);
}
src/lib/matrix/test/matrixMult.cpp
-70
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@@ -1,70 +0,0 @@
#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;
}