mathlib: Vector class major cleanup

src/lib/mathlib/math/Matrix.hpp

@@ -94,11 +94,11 @@ public:
 		return data[row][col];
 	}
 
-	unsigned int getRows() {
+	unsigned int get_rows() {
 		return M;
 	}
 
-	unsigned int getCols() {
+	unsigned int get_cols() {
 		return N;
 	}
 
@@ -295,11 +295,7 @@ public:
 	    return res;
 	}
 };
-}
 
-#include "Quaternion.hpp"
-
-namespace math {
 template <>
 class __EXPORT Matrix<3, 3> : public MatrixBase<3, 3> {
 public:
@@ -329,25 +325,6 @@ public:
 	    return res;
 	}
 
-	/**
-	 * create a rotation matrix from given quaternion
-	 */
-	void from_quaternion(const Quaternion &q) {
-		float aSq = q.data[0] * q.data[0];
-		float bSq = q.data[1] * q.data[1];
-		float cSq = q.data[2] * q.data[2];
-		float dSq = q.data[3] * q.data[3];
-		data[0][0] = aSq + bSq - cSq - dSq;
-		data[0][1] = 2.0f * (q.data[1] * q.data[2] - q.data[0] * q.data[3]);
-		data[0][2] = 2.0f * (q.data[0] * q.data[2] + q.data[1] * q.data[3]);
-		data[1][0] = 2.0f * (q.data[1] * q.data[2] + q.data[0] * q.data[3]);
-		data[1][1] = aSq - bSq + cSq - dSq;
-		data[1][2] = 2.0f * (q.data[2] * q.data[3] - q.data[0] * q.data[1]);
-		data[2][0] = 2.0f * (q.data[1] * q.data[3] - q.data[0] * q.data[2]);
-		data[2][1] = 2.0f * (q.data[0] * q.data[1] + q.data[2] * q.data[3]);
-		data[2][2] = aSq - bSq - cSq + dSq;
-	}
-
 	/**
 	 * create a rotation matrix from given euler angles
 	 * based on http://gentlenav.googlecode.com/files/EulerAngles.pdf

src/lib/mathlib/math/Quaternion.hpp

@@ -58,7 +58,7 @@ public:
 	/**
 	 * trivial ctor
 	 */
-	Quaternion() {
+	Quaternion() : Vector() {
 	}
 
 	/**
@@ -70,10 +70,29 @@ public:
 	Quaternion(const Vector<4> &v) : Vector(v) {
 	}
 
-	Quaternion(const float *v) : Vector(v) {
+	Quaternion(const Quaternion &q) : Vector(q) {
 	}
 
-	Quaternion derivative(const Vector<3> &w) {
+	Quaternion(const float v[4]) : Vector(v) {
+	}
+
+	using Vector<4>::operator *;
+
+	/**
+	 * multiplication
+	 */
+	const Quaternion operator *(const Quaternion &q) const {
+		return Quaternion(
+				data[0] * q.data[0] - data[1] * q.data[1] - data[2] * q.data[2] - data[3] * q.data[3],
+				data[0] * q.data[1] + data[1] * q.data[0] + data[2] * q.data[3] - data[3] * q.data[2],
+				data[0] * q.data[2] - data[1] * q.data[3] + data[2] * q.data[0] + data[3] * q.data[1],
+				data[0] * q.data[3] + data[1] * q.data[2] - data[2] * q.data[1] + data[3] * q.data[0]);
+	}
+
+	/**
+	 * derivative
+	 */
+	const Quaternion derivative(const Vector<3> &w) {
 	        float dataQ[] = {
 	                data[0], -data[1], -data[2], -data[3],
 	                data[1],  data[0], -data[3],  data[2],
@@ -85,6 +104,9 @@ public:
 	        return Q * v * 0.5f;
 	}
 
+	/**
+	 * set quaternion to rotation defined by euler angles
+	 */
 	void from_euler(float roll, float pitch, float yaw) {
 		double cosPhi_2 = cos(double(roll) / 2.0);
 		double sinPhi_2 = sin(double(roll) / 2.0);
@@ -97,6 +119,26 @@ public:
 		data[2] = cosPhi_2 * sinTheta_2 * cosPsi_2 + sinPhi_2 * cosTheta_2 * sinPsi_2;
 		data[3] = cosPhi_2 * cosTheta_2 * sinPsi_2 - sinPhi_2 * sinTheta_2 * cosPsi_2;
 	}
+
+	/**
+	 * create rotation matrix for the quaternion
+	 */
+	Matrix<3, 3> to_dcm(void) const {
+		Matrix<3, 3> R;
+		float aSq = data[0] * data[0];
+		float bSq = data[1] * data[1];
+		float cSq = data[2] * data[2];
+		float dSq = data[3] * data[3];
+		R.data[0][0] = aSq + bSq - cSq - dSq;
+		R.data[0][1] = 2.0f * (data[1] * data[2] - data[0] * data[3]);
+		R.data[0][2] = 2.0f * (data[0] * data[2] + data[1] * data[3]);
+		R.data[1][0] = 2.0f * (data[1] * data[2] + data[0] * data[3]);
+		R.data[1][1] = aSq - bSq + cSq - dSq;
+		R.data[1][2] = 2.0f * (data[2] * data[3] - data[0] * data[1]);
+		R.data[2][0] = 2.0f * (data[1] * data[3] - data[0] * data[2]);
+		R.data[2][1] = 2.0f * (data[0] * data[1] + data[2] * data[3]);
+		R.data[2][2] = aSq - bSq - cSq + dSq;
+	}
 };
 }
 

src/lib/mathlib/math/Vector.hpp

@@ -1,8 +1,9 @@
 /****************************************************************************
  *
  *   Copyright (C) 2013 PX4 Development Team. All rights reserved.
- *   Author: Will Perone <will.perone@gmail.com>
+ *   Author: Anton Babushkin <anton.babushkin@me.com>
- *           Anton Babushkin <anton.babushkin@me.com>
+ *           Pavel Kirienko <pavel.kirienko@gmail.com>
+ *           Lorenz Meier <lm@inf.ethz.ch>
  *
  * Redistribution and use in source and binary forms, with or without
  * modification, are permitted provided that the following conditions
@@ -36,13 +37,12 @@
 /**
  * @file Vector.hpp
  *
- * Generic Vector
+ * Vector class
  */
 
 #ifndef VECTOR_HPP
 #define VECTOR_HPP
 
-#include <visibility.h>
 #include <stdio.h>
 #include <math.h>
 #include "../CMSIS/Include/arm_math.h"
@@ -84,7 +84,7 @@ public:
 	/**
 	 * setting ctor
 	 */
-	VectorBase(const float *d) {
+	VectorBase(const float d[N]) {
 		arm_col = {N, 1, &data[0]};
 		memcpy(data, d, sizeof(data));
 	}
@@ -92,31 +92,30 @@ public:
 	/**
 	 * access to elements by index
 	 */
-	inline float &operator ()(unsigned int i) {
+	float &operator ()(const unsigned int i) {
 		return data[i];
 	}
 
 	/**
 	 * access to elements by index
 	 */
-	inline const float &operator ()(unsigned int i) const {
+	float operator ()(const unsigned int i) const {
 		return data[i];
 	}
 
-	unsigned int getRows() {
+	/**
+	 * get rows number
+	 */
+	unsigned int get_size() const {
 		return N;
 	}
 
-	unsigned int getCols() {
-		return 1;
-	}
-
 	/**
 	 * test for equality
 	 */
 	bool operator ==(const Vector<N> &v) {
  		for (unsigned int i = 0; i < N; i++)
- 			if (data[i] != v(i))
+ 			if (data[i] != v.data[i])
  				return false;
  		return true;
 	}
@@ -126,7 +125,7 @@ public:
 	 */
 	bool operator !=(const Vector<N> &v) {
  		for (unsigned int i = 0; i < N; i++)
- 			if (data[i] != v(i))
+ 			if (data[i] != v.data[i])
  				return true;
  		return false;
 	}
@@ -155,7 +154,7 @@ public:
 	const Vector<N> operator +(const Vector<N> &v) const {
 		Vector<N> res;
  		for (unsigned int i = 0; i < N; i++)
- 			res.data[i] = data[i] + v(i);
+ 			res.data[i] = data[i] + v.data[i];
  		return res;
 	}
 
@@ -165,7 +164,7 @@ public:
 	const Vector<N> operator -(const Vector<N> &v) const {
 		Vector<N> res;
  		for (unsigned int i = 0; i < N; i++)
- 			res.data[i] = data[i] - v(i);
+ 			res.data[i] = data[i] - v.data[i];
  		return res;
 	}
 
@@ -173,16 +172,20 @@ public:
 	 * uniform scaling
 	 */
 	const Vector<N> operator *(const float num) const {
-		Vector<N> temp(*this);
+		Vector<N> res;
-		return temp *= num;
+ 		for (unsigned int i = 0; i < N; i++)
+ 			res.data[i] = data[i] * num;
+		return res;
 	}
 
 	/**
 	 * uniform scaling
 	 */
 	const Vector<N> operator /(const float num) const {
-		Vector<N> temp(*static_cast<const Vector<N>*>(this));
+		Vector<N> res;
-		return temp /= num;
+ 		for (unsigned int i = 0; i < N; i++)
+ 			res.data[i] = data[i] / num;
+		return res;
 	}
 
 	/**
@@ -190,7 +193,7 @@ public:
 	 */
 	const Vector<N> &operator +=(const Vector<N> &v) {
  		for (unsigned int i = 0; i < N; i++)
- 			data[i] += v(i);
+ 			data[i] += v.data[i];
 		return *static_cast<const Vector<N>*>(this);
 	}
 
@@ -199,7 +202,7 @@ public:
 	 */
 	const Vector<N> &operator -=(const Vector<N> &v) {
  		for (unsigned int i = 0; i < N; i++)
- 			data[i] -= v(i);
+ 			data[i] -= v.data[i];
 		return *static_cast<const Vector<N>*>(this);
 	}
 
@@ -227,7 +230,7 @@ public:
 	float operator *(const Vector<N> &v) const {
 		float res = 0.0f;
  		for (unsigned int i = 0; i < N; i++)
- 			res += data[i] * v(i);
+ 			res += data[i] * v.data[i];
  		return res;
 	}
 
@@ -235,14 +238,20 @@ public:
 	 * gets the length of this vector squared
 	 */
 	float length_squared() const {
-		return (*this * *this);
+		float res = 0.0f;
+ 		for (unsigned int i = 0; i < N; i++)
+ 			res += data[i] * data[i];
+ 		return res;
 	}
 
 	/**
 	 * gets the length of this vector
 	 */
 	float length() const {
-		return sqrtf(*this * *static_cast<const Vector<N>*>(this));
+		float res = 0.0f;
+ 		for (unsigned int i = 0; i < N; i++)
+ 			res += data[i] * data[i];
+ 		return sqrtf(res);
 	}
 
 	/**
@@ -277,25 +286,17 @@ public:
 template <unsigned int N>
 class __EXPORT Vector : public VectorBase<N> {
 public:
-	using VectorBase<N>::operator *;
+	//using VectorBase<N>::operator *;
+	Vector() : VectorBase<N>() {}
 
-	Vector() : VectorBase<N>() {
+	Vector(const Vector &v) : VectorBase<N>(v) {}
-	}
 
-	Vector(const float d[]) : VectorBase<N>(d) {
+	Vector(const float d[N]) : VectorBase<N>(d) {}
-	}
-
-	Vector(const Vector<N> &v) : VectorBase<N>(v) {
-	}
-
-	Vector(const VectorBase<N> &v) : VectorBase<N>(v) {
-	}
 
 	/**
 	 * set to value
 	 */
 	const Vector<N> &operator =(const Vector<N> &v) {
-		this->arm_col = {N, 1, &this->data[0]};
 		memcpy(this->data, v.data, sizeof(this->data));
 		return *this;
 	}
@@ -304,24 +305,24 @@ public:
 template <>
 class __EXPORT Vector<2> : public VectorBase<2> {
 public:
-	Vector() : VectorBase<2>() {
+	Vector() : VectorBase<2>() {}
+
+	/* simple copy is 1.6 times faster than memcpy */
+	Vector(const Vector &v) : VectorBase<2>() {
+		data[0] = v.data[0];
+		data[1] = v.data[1];
 	}
 
-	Vector(const float x, const float y) : VectorBase() {
+	Vector(const float d[2]) : VectorBase<2>() {
+		data[0] = d[0];
+		data[1] = d[1];
+	}
+
+	Vector(const float x, const float y) : VectorBase<2>() {
 		data[0] = x;
 		data[1] = y;
 	}
 
-	Vector(const Vector<2> &v) : VectorBase() {
-		data[0] = v.data[0];
-		data[1] = v.data[1];
-	}
-
-	Vector(const VectorBase<2> &v) : VectorBase() {
-		data[0] = v.data[0];
-		data[1] = v.data[1];
-	}
-
 	/**
 	 * set to value
 	 */
@@ -331,55 +332,49 @@ public:
 		return *this;
 	}
 
-	float cross(const Vector<2> &b) const {
-	        return data[0]*b.data[1] - data[1]*b.data[0];
-	}
-
 	float operator %(const Vector<2> &v) const {
-	        return cross(v);
+        return data[0] * v.data[1] - data[1] * v.data[0];
 	}
-
 };
 
 template <>
 class __EXPORT Vector<3> : public VectorBase<3> {
 public:
-	Vector() {
+	Vector() : VectorBase<3>() {}
-		arm_col = {3, 1, &this->data[0]};
+
+	/* simple copy is 1.6 times faster than memcpy */
+	Vector(const Vector &v) : VectorBase<3>() {
+		for (unsigned int i = 0; i < 3; i++)
+			data[i] = v.data[i];
 	}
 
-	Vector(const float x, const float y, const float z) {
+	Vector(const float d[3]) : VectorBase<3>() {
-		arm_col = {3, 1, &this->data[0]};
+		for (unsigned int i = 0; i < 3; i++)
+			data[i] = d[i];
+	}
+
+	Vector(const float x, const float y, const float z) : VectorBase<3>() {
 		data[0] = x;
 		data[1] = y;
 		data[2] = z;
 	}
 
-	Vector(const Vector<3> &v) : VectorBase<3>() {
-		data[0] = v.data[0];
-		data[1] = v.data[1];
-		data[2] = v.data[2];
-	}
-
-	/**
-	 * setting ctor
-	 */
-	Vector(const float d[]) {
-		arm_col = {3, 1, &this->data[0]};
-		data[0] = d[0];
-		data[1] = d[1];
-		data[2] = d[2];
-	}
-
 	/**
 	 * set to value
 	 */
 	const Vector<3> &operator =(const Vector<3> &v) {
-		data[0] = v.data[0];
+		for (unsigned int i = 0; i < 3; i++)
-		data[1] = v.data[1];
+			data[i] = v.data[i];
-		data[2] = v.data[2];
 		return *this;
 	}
+
+	Vector<3> operator %(const Vector<3> &v) const {
+		return Vector<3>(
+				data[1] * v.data[2] - data[2] * v.data[1],
+				data[2] * v.data[0] - data[0] * v.data[2],
+				data[0] * v.data[1] - data[1] * v.data[0]
+		);
+	}
 };
 
 template <>
@@ -387,49 +382,31 @@ class __EXPORT Vector<4> : public VectorBase<4> {
 public:
 	Vector() : VectorBase() {}
 
-	Vector(const float x, const float y, const float z, const float t) : VectorBase() {
+	Vector(const Vector &v) : VectorBase<4>() {
-		data[0] = x;
+		for (unsigned int i = 0; i < 4; i++)
-		data[1] = y;
+			data[i] = v.data[i];
-		data[2] = z;
-		data[3] = t;
 	}
 
-	Vector(const Vector<4> &v) : VectorBase() {
+	Vector(const float d[4]) : VectorBase<4>() {
-		data[0] = v.data[0];
+		for (unsigned int i = 0; i < 4; i++)
-		data[1] = v.data[1];
+			data[i] = d[i];
-		data[2] = v.data[2];
-		data[3] = v.data[3];
 	}
 
-	Vector(const VectorBase<4> &v) : VectorBase() {
+	Vector(const float x0, const float x1, const float x2, const float x3) : VectorBase() {
-		data[0] = v.data[0];
+		data[0] = x0;
-		data[1] = v.data[1];
+		data[1] = x1;
-		data[2] = v.data[2];
+		data[2] = x2;
-		data[3] = v.data[3];
+		data[3] = x3;
 	}
 
-	/**
-	 * setting ctor
-	 */
-	/*
-	Vector(const float d[]) {
-		arm_col = {3, 1, &this->data[0]};
-		data[0] = d[0];
-		data[1] = d[1];
-		data[2] = d[2];
-	}
-*/
 	/**
 	 * set to value
 	 */
-	/*
+	const Vector<4> &operator =(const Vector<4> &v) {
-	const Vector<3> &operator =(const Vector<3> &v) {
+		for (unsigned int i = 0; i < 4; i++)
-		data[0] = v.data[0];
+			data[i] = v.data[i];
-		data[1] = v.data[1];
-		data[2] = v.data[2];
 		return *this;
 	}
-	*/
 };
 
 }

src/modules/att_pos_estimator_ekf/KalmanNav.cpp

@@ -132,7 +132,7 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
 		_sensors.magnetometer_ga[2]);
 
 	// initialize dcm
-	C_nb.from_quaternion(q);
+	C_nb = q.to_dcm();
 
 	// HPos is constant
 	HPos(0, 3) = 1.0f;
@@ -409,7 +409,7 @@ int KalmanNav::predictState(float dt)
 		}
 
 		// C_nb update
-		C_nb.from_quaternion(q);
+		C_nb = q.to_dcm();
 
 		// euler update
 		Vector<3> euler = C_nb.to_euler();
@@ -628,7 +628,7 @@ int KalmanNav::correctAtt()
 	Vector<9> xCorrect = K * y;
 
 	// check correciton is sane
-	for (size_t i = 0; i < xCorrect.getRows(); i++) {
+	for (size_t i = 0; i < xCorrect.get_size(); i++) {
 		float val = xCorrect(i);
 
 		if (isnan(val) || isinf(val)) {
@@ -694,7 +694,7 @@ int KalmanNav::correctPos()
 	Vector<9> xCorrect = K * y;
 
 	// check correction is sane
-	for (size_t i = 0; i < xCorrect.getRows(); i++) {
+	for (size_t i = 0; i < xCorrect.get_size(); i++) {
 		float val = xCorrect(i);
 
 		if (!isfinite(val)) {

src/modules/mavlink/mavlink_receiver.cpp

@@ -683,8 +683,7 @@ handle_message(mavlink_message_t *msg)
 
 			/* Calculate Rotation Matrix */
 			math::Quaternion q(hil_state.attitude_quaternion);
-			math::Matrix<3,3> C_nb;
+			math::Matrix<3,3> C_nb = q.to_dcm();
-			C_nb.from_quaternion(q);
 			math::Vector<3> euler = C_nb.to_euler();
 
 			/* set rotation matrix */

src/modules/sensors/sensors.cpp

@@ -465,8 +465,6 @@ Sensors::Sensors() :
 /* performance counters */
 	_loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")),
 
-	_board_rotation(),
-	_external_mag_rotation(),
 	_mag_is_external(false)
 {
 
@@ -920,7 +918,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
 
 		orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report);
 
-		math::Vector<3> vect = {accel_report.x, accel_report.y, accel_report.z};
+		math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z);
 		vect = _board_rotation * vect;
 
 		raw.accelerometer_m_s2[0] = vect(0);
@@ -946,7 +944,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
 
 		orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report);
 
-		math::Vector<3> vect = {gyro_report.x, gyro_report.y, gyro_report.z};
+		math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z);
 		vect = _board_rotation * vect;
 
 		raw.gyro_rad_s[0] = vect(0);

src/systemcmds/tests/test_mathlib.cpp

@@ -48,6 +48,8 @@
 
 #include "tests.h"
 
+#define TEST_OP(_title, _op) { unsigned int n = 60000; hrt_abstime t0, t1; t0 = hrt_absolute_time(); for (unsigned int j = 0; j < n; j++) { _op; }; t1 = hrt_absolute_time(); warnx(_title ": %.6fus", (double)(t1 - t0) / n); }
+
 using namespace math;
 
 const char* formatResult(bool res) {
@@ -58,60 +60,82 @@ int test_mathlib(int argc, char *argv[])
 {
 	warnx("testing mathlib");
 
-	Matrix<3,3> m3;
+	Vector<2> v2(1.0f, 2.0f);
-	m3.identity();
+	Vector<3> v3(1.0f, 2.0f, 3.0f);
-	Matrix<4,4> m4;
+	Vector<4> v4(1.0f, 2.0f, 3.0f, 4.0f);
-	m4.identity();
+	Vector<10> v10;
-	Vector<3> v3;
+	v10.zero();
-	v3(0) = 1.0f;
-	v3(1) = 2.0f;
-	v3(2) = 3.0f;
-	Vector<4> v4;
-	v4(0) = 1.0f;
-	v4(1) = 2.0f;
-	v4(2) = 3.0f;
-	v4(3) = 4.0f;
-	Vector<3> vres3;
-	Matrix<3,3> mres3;
-	Matrix<4,4> mres4;
 
-	unsigned int n = 60000;
+	float data2[2] = {1.0f, 2.0f};
+	float data3[3] = {1.0f, 2.0f, 3.0f};
+	float data4[4] = {1.0f, 2.0f, 3.0f, 4.0f};
+	float data10[10];
 
-	hrt_abstime t0, t1;
+	{
-
+		Vector<2> v;
-	t0 = hrt_absolute_time();
+		Vector<2> v1(1.0f, 2.0f);
-	for (unsigned int j = 0; j < n; j++) {
+		Vector<2> v2(1.0f, -1.0f);
-		vres3 = m3 * v3;
+		TEST_OP("Constructor Vector<2>()", Vector<2> v);
+		TEST_OP("Constructor Vector<2>(Vector<2>)", Vector<2> v(v2));
+		TEST_OP("Constructor Vector<2>(float[])", Vector<2> v(data2));
+		TEST_OP("Constructor Vector<2>(float, float)", Vector<2> v(1.0f, 2.0f));
+		TEST_OP("Vector<2> = Vector<2>", v = v1);
+		TEST_OP("Vector<2> + Vector<2>", v + v1);
+		TEST_OP("Vector<2> - Vector<2>", v - v1);
+		TEST_OP("Vector<2> += Vector<2>", v += v1);
+		TEST_OP("Vector<2> -= Vector<2>", v -= v1);
+		TEST_OP("Vector<2> * Vector<2>", v * v1);
+		TEST_OP("Vector<2> %% Vector<2>", v1 % v2);
 	}
-	t1 = hrt_absolute_time();
-	warnx("Matrix3 * Vector3: %s %.6fus", formatResult(vres3 == v3), (double)(t1 - t0) / n);
 
-	t0 = hrt_absolute_time();
+	{
-	for (unsigned int j = 0; j < n; j++) {
+		Vector<3> v;
-		mres3 = m3 * m3;
+		Vector<3> v1(1.0f, 2.0f, 0.0f);
+		Vector<3> v2(1.0f, -1.0f, 2.0f);
+		TEST_OP("Constructor Vector<3>()", Vector<3> v);
+		TEST_OP("Constructor Vector<3>(Vector<3>)", Vector<3> v(v3));
+		TEST_OP("Constructor Vector<3>(float[])", Vector<3> v(data3));
+		TEST_OP("Constructor Vector<3>(float, float, float)", Vector<3> v(1.0f, 2.0f, 3.0f));
+		TEST_OP("Vector<3> = Vector<3>", v = v1);
+		TEST_OP("Vector<3> + Vector<3>", v + v1);
+		TEST_OP("Vector<3> - Vector<3>", v - v1);
+		TEST_OP("Vector<3> += Vector<3>", v += v1);
+		TEST_OP("Vector<3> -= Vector<3>", v -= v1);
+		TEST_OP("Vector<3> * float", v1 * 2.0f);
+		TEST_OP("Vector<3> / float", v1 / 2.0f);
+		TEST_OP("Vector<3> *= float", v1 *= 2.0f);
+		TEST_OP("Vector<3> /= float", v1 /= 2.0f);
+		TEST_OP("Vector<3> * Vector<3>", v * v1);
+		TEST_OP("Vector<3> %% Vector<3>", v1 % v2);
+		TEST_OP("Vector<3> length", v1.length());
+		TEST_OP("Vector<3> length squared", v1.length_squared());
+		TEST_OP("Vector<3> element read", volatile float a = v1(0));
+		TEST_OP("Vector<3> element read direct", volatile float a = v1.data[0]);
+		TEST_OP("Vector<3> element write", v1(0) = 1.0f);
+		TEST_OP("Vector<3> element write direct", v1.data[0] = 1.0f);
 	}
-	t1 = hrt_absolute_time();
-	warnx("Matrix3 * Matrix3: %s %.6fus", formatResult(mres3 == m3), (double)(t1 - t0) / n);
 
-	t0 = hrt_absolute_time();
+	{
-	for (unsigned int j = 0; j < n; j++) {
+		Vector<4> v;
-		mres4 = m4 * m4;
+		Vector<4> v1(1.0f, 2.0f, 0.0f, -1.0f);
+		Vector<4> v2(1.0f, -1.0f, 2.0f, 0.0f);
+		TEST_OP("Constructor Vector<4>()", Vector<4> v);
+		TEST_OP("Constructor Vector<4>(Vector<4>)", Vector<4> v(v4));
+		TEST_OP("Constructor Vector<4>(float[])", Vector<4> v(data4));
+		TEST_OP("Constructor Vector<4>(float, float, float, float)", Vector<4> v(1.0f, 2.0f, 3.0f, 4.0f));
+		TEST_OP("Vector<4> = Vector<4>", v = v1);
+		TEST_OP("Vector<4> + Vector<4>", v + v1);
+		TEST_OP("Vector<4> - Vector<4>", v - v1);
+		TEST_OP("Vector<4> += Vector<4>", v += v1);
+		TEST_OP("Vector<4> -= Vector<4>", v -= v1);
+		TEST_OP("Vector<4> * Vector<4>", v * v1);
 	}
-	t1 = hrt_absolute_time();
-	warnx("Matrix4 * Matrix4: %s %.6fus", formatResult(mres4 == m4), (double)(t1 - t0) / n);
 
-	t0 = hrt_absolute_time();
+	{
-	for (unsigned int j = 0; j < n; j++) {
+		TEST_OP("Constructor Vector<10>()", Vector<10> v);
-		mres3 = m3.transposed();
+		TEST_OP("Constructor Vector<10>(Vector<10>)", Vector<10> v(v10));
+		TEST_OP("Constructor Vector<10>(float[])", Vector<10> v(data10));
 	}
-	t1 = hrt_absolute_time();
-	warnx("Matrix3 Transpose: %s %.6fus", formatResult(mres3 == m3), (double)(t1 - t0) / n);
 
-	t0 = hrt_absolute_time();
-	for (unsigned int j = 0; j < n; j++) {
-		mres3 = m3.inversed();
-	}
-	t1 = hrt_absolute_time();
-	warnx("Matrix3 Invert: %s %.6fus", formatResult(mres3 == m3), (double)(t1 - t0) / n);
 	return 0;
 }