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Update matrix submodule and add pseudoinverse tests (tests matrix)

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This commit is contained in:
Julien Lecoeur
2019-11-21 19:06:59 +01:00
committed by Daniel Agar
parent 5d3a6d8213
commit a46581987c
8 changed files with 138 additions and 25 deletions
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src/systemcmds/tests/test_matrix.cpp
+97
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@@ -68,6 +68,7 @@ private:
bool vector3Tests();
bool vectorAssignmentTests();
bool dcmRenormTests();
bool pseudoInverseTests();
};
bool MatrixTest::run_tests()
@@ -89,6 +90,7 @@ bool MatrixTest::run_tests()
ut_run_test(vector3Tests);
ut_run_test(vectorAssignmentTests);
ut_run_test(dcmRenormTests);
ut_run_test(pseudoInverseTests);
return (_tests_failed == 0);
}
@@ -757,3 +759,98 @@ bool MatrixTest::dcmRenormTests()
return true;
}
bool MatrixTest::pseudoInverseTests()
{
// 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 = geninv(A0);
Matrix<float, 4, 3> A0_I_check(data0_check);
ut_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 = geninv(A1);
Matrix<float, 3, 4> A1_I_check(data1_check);
ut_test((A1_I - A1_I_check).abs().max() < 1e-5);
// 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 = inv(A2);
SquareMatrix<float, 3> A2_I_check(data2_check);
ut_test((A2_I - A2_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(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(A_quad_w);
Matrix<float, 16, 6> A = geninv(B);
ut_test((A - A_check).abs().max() < 1e-5);
return true;
}