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NuttX carry minimal c++ cmath (replacing Matrix stdlib_imports.hpp)

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This commit is contained in:
Daniel Agar
2022-07-12 08:05:06 -04:00
parent fe22167512
commit a73efd9c4f
32 changed files with 297 additions and 323 deletions
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src/lib/matrix/test/MatrixDualTest.cpp
+13 -11
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@@ -31,6 +31,8 @@
*
****************************************************************************/
#include <cmath>
#include <gtest/gtest.h>
#include <matrix/math.hpp>
#include <iostream>
@@ -162,7 +164,7 @@ TEST(MatrixDualTest, Dual)
{
// sqrt
EXPECT_FLOAT_EQ(sqrt(a).value, sqrt(a.value));
EXPECT_FLOAT_EQ(sqrt(a).value, std::sqrt(a.value));
EXPECT_FLOAT_EQ(sqrt(a).derivative(0), 1.f / sqrt(12.f));
}
@@ -202,7 +204,7 @@ TEST(MatrixDualTest, Dual)
{
// isnan
EXPECT_FALSE(IsNan(a));
Dual<float, 1> c(sqrt(-1.f), 0);
Dual<float, 1> c(std::sqrt(-1.f), 0);
EXPECT_TRUE(IsNan(c));
}
@@ -210,7 +212,7 @@ TEST(MatrixDualTest, Dual)
// isfinite/isinf
EXPECT_TRUE(IsFinite(a));
EXPECT_FALSE(IsInf(a));
Dual<float, 1> c(sqrt(-1.f), 0);
Dual<float, 1> c(std::sqrt(-1.f), 0);
EXPECT_FALSE(IsFinite(c));
EXPECT_FALSE(IsInf(c));
Dual<float, 1> d(INFINITY, 0);
@@ -221,25 +223,25 @@ TEST(MatrixDualTest, Dual)
{
// sin/cos/tan
EXPECT_FLOAT_EQ(sin(a).value, sin(a.value));
EXPECT_FLOAT_EQ(sin(a).derivative(0), cos(a.value)); // sin'(x) = cos(x)
EXPECT_FLOAT_EQ(sin(a).derivative(0), std::cos(a.value)); // sin'(x) = cos(x)
EXPECT_FLOAT_EQ(cos(a).value, cos(a.value));
EXPECT_FLOAT_EQ(cos(a).derivative(0), -sin(a.value)); // cos'(x) = -sin(x)
EXPECT_FLOAT_EQ(cos(a).derivative(0), -std::sin(a.value)); // cos'(x) = -sin(x)
EXPECT_FLOAT_EQ(tan(a).value, tan(a.value));
EXPECT_FLOAT_EQ(tan(a).derivative(0), 1.f + tan(a.value)*tan(a.value)); // tan'(x) = 1 + tan^2(x)
EXPECT_FLOAT_EQ(tan(a).derivative(0), 1.f + std::tan(a.value)*std::tan(a.value)); // tan'(x) = 1 + tan^2(x)
}
{
// asin/acos/atan
Dual<float, 1> c(0.3f, 0);
EXPECT_FLOAT_EQ(asin(c).value, asin(c.value));
EXPECT_FLOAT_EQ(asin(c).derivative(0), 1.f / sqrt(1.f - 0.3f * 0.3f)); // asin'(x) = 1/sqrt(1-x^2)
EXPECT_FLOAT_EQ(asin(c).value, std::asin(c.value));
EXPECT_FLOAT_EQ(asin(c).derivative(0), 1.f / std::sqrt(1.f - 0.3f * 0.3f)); // asin'(x) = 1/sqrt(1-x^2)
EXPECT_FLOAT_EQ(acos(c).value, acos(c.value));
EXPECT_FLOAT_EQ(acos(c).derivative(0), -1.f / sqrt(1.f - 0.3f * 0.3f)); // acos'(x) = -1/sqrt(1-x^2)
EXPECT_FLOAT_EQ(acos(c).value, std::acos(c.value));
EXPECT_FLOAT_EQ(acos(c).derivative(0), -1.f / std::sqrt(1.f - 0.3f * 0.3f)); // acos'(x) = -1/sqrt(1-x^2)
EXPECT_FLOAT_EQ(atan(c).value, atan(c.value));
EXPECT_FLOAT_EQ(atan(c).value, std::atan(c.value));
EXPECT_FLOAT_EQ(atan(c).derivative(0), 1.f / (1.f + 0.3f * 0.3f)); // tan'(x) = 1 + x^2
}