Initial commit.

test/CMakeLists.txt

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+set(tests
+	setIdentity
+	inverse
+	matrixMult
+	vectorAssignment
+	matrixAssignment
+	matrixScalarMult
+	transpose
+	quaternion
+	dcm
+	vector
+	vector3
+	euler
+	)
+
+foreach(test ${tests})
+	add_executable(${test}
+		${test}.cpp)
+	add_test(${test} ${test})
+endforeach()

test/dcm.cpp

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+#include "Dcm.hpp"
+#include <assert.h>
+#include <stdio.h>
+
+using namespace matrix;
+
+int main()
+{
+	Dcmf dcm;
+	Quatf q = Quatf(dcm);
+	Eulerf e = Eulerf(dcm);
+	return 0;
+}

test/euler.cpp

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+#include "Euler.hpp"
+#include <assert.h>
+#include <stdio.h>
+
+using namespace matrix;
+
+int main()
+{
+	Eulerf e;
+	float dp = e.T()*e;
+	Dcmf dcm = Dcmf(e);
+	Quatf q = Quatf(e);
+	float n = e.norm();
+	return 0;
+}

test/inverse.cpp

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+#include "Matrix.hpp"
+#include <assert.h>
+#include <stdio.h>
+
+using namespace matrix;
+
+int main()
+{
+	float data[9] = {1, 0, 0, 0, 1, 0, 1, 0, 1};
+	Matrix3f A(data);
+	Matrix3f A_I = A.inverse();
+	float data_check[9] = {1, 0, 0, 0, 1, 0, -1, 0, 1};
+	Matrix3f A_I_check(data_check);
+	(void)A_I;
+	assert(A_I == A_I_check);
+
+	// stess test
+	static const size_t n = 100;
+	Matrix<float, n, n> A_large;
+	A_large.setIdentity();
+	Matrix<float, n, n> A_large_I;
+	A_large_I.setZero();
+
+	for (size_t i = 0; i < 100; i++) {
+		A_large_I = A_large.inverse();
+		assert(A_large == A_large_I);
+	}
+
+	return 0;
+}

test/matrixAssignment.cpp

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+#include "Matrix.hpp"
+#include <assert.h>
+
+using namespace matrix;
+
+int main()
+{
+	Matrix3f m;
+	m.setZero();
+	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;
+
+	m.print();
+
+	float data[9] = {1, 2, 3, 4, 5, 6, 7, 8, 9};
+	Matrix3f m2(data);
+	m2.print();
+
+	assert(m == m2);
+
+	return 0;
+}

test/matrixMult.cpp

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+#include "Matrix.hpp"
+#include <assert.h>
+#include <stdio.h>
+
+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();
+	A.print();
+	A_I.print();
+	Matrix3f R = A * A_I;
+	R.print();
+	assert(R == I);
+
+	Matrix3f R2 = A;
+	R2 *= A_I;
+	R2.print();
+	assert(R2 == I);
+	return 0;
+}

test/matrixScalarMult.cpp

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+#include "Matrix.hpp"
+#include <assert.h>
+#include <stdio.h>
+
+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);
+	A.print();
+	A_check.print();
+	assert(A == A_check);
+	return 0;
+}

test/quaternion.cpp

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+#include "Quaternion.hpp"
+#include <assert.h>
+#include <stdio.h>
+
+using namespace matrix;
+
+int main()
+{
+	Quatf p(1, 0, 0, 0);
+	Quatf q(0, 1, 0, 0);
+	Quatf r = p*q;
+	Dcmf dcm = Dcmf(p);
+	Eulerf e = Eulerf(p);
+	return 0;
+}

test/setIdentity.cpp

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+#include "Matrix.hpp"
+#include <assert.h>
+
+using namespace matrix;
+
+int main()
+{
+	Matrix3f A;
+	A.setIdentity();
+	assert(A.rows() == 3);
+	assert(A.cols() == 3);
+
+	for (int i = 0; i < 3; i++) {
+		for (int j = 0; j < 3; j++) {
+			if (i == j) {
+				assert(A(i, j) == 1);
+
+			} else {
+				assert(A(i, j) == 0);
+			}
+		}
+	}
+
+	return 0;
+}

test/transpose.cpp

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+#include "Matrix.hpp"
+#include <assert.h>
+#include <stdio.h>
+
+using namespace matrix;
+
+int main()
+{
+	float data[9] = {1, 2, 3, 4, 5, 6};
+	Matrix<float, 2, 3> A(data);
+	Matrix<float, 3, 2> A_T = A.transpose();
+	float data_check[9] = {1, 4, 2, 5, 3, 6};
+	Matrix<float, 3, 2> A_T_check(data_check);
+	A_T.print();
+	A_T_check.print();
+	assert(A_T == A_T_check);
+	return 0;
+}

test/vector.cpp

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+#include "Vector.hpp"
+#include <assert.h>
+#include <stdio.h>
+
+using namespace matrix;
+
+int main()
+{
+	Vector<float, 5> v;
+	float n = v.norm();
+	float r = v.dot(v);
+	return 0;
+}

test/vector3.cpp

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+#include "Vector3.hpp"
+#include <assert.h>
+#include <stdio.h>
+
+using namespace matrix;
+
+int main()
+{
+	Vector3f a(1, 0, 0);
+	Vector3f b(0, 1, 0);
+	Vector3f c = a.cross(b);
+	return 0;
+}

test/vectorAssignment.cpp

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+#include "Vector3.hpp"
+#include <assert.h>
+
+using namespace matrix;
+
+int main()
+{
+	Vector3f v;
+	v(0) = 1;
+	v(1) = 2;
+	v(2) = 3;
+
+	v.print();
+
+	assert(v(0) == 1);
+	assert(v(1) == 2);
+	assert(v(2) == 3);
+
+	Vector3f v2(4, 5, 6);
+
+	v2.print();
+
+	assert(v2(0) == 4);
+	assert(v2(1) == 5);
+	assert(v2(2) == 6);
+
+	return 0;
+}