New mathlib, WIP

2026-06-27 18:50:34 +08:00 · 2013-12-18 19:33:47 +04:00
parent ea107f4151
commit a83e3cd222
31 changed files with 1438 additions and 2677 deletions
@@ -0,0 +1,114 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2013 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.
+ *
+ ****************************************************************************/
+
+/**
+ * @file test_mathlib.cpp
+ *
+ * Mathlib test
+ */
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+#include <string.h>
+#include <time.h>
+#include <mathlib/mathlib.h>
+#include <systemlib/err.h>
+#include <drivers/drv_hrt.h>
+
+#include "tests.h"
+
+using namespace math;
+
+const char* formatResult(bool res) {
+	return res ? "OK" : "ERROR";
+}
+
+int test_mathlib(int argc, char *argv[])
+{
+	warnx("testing mathlib");
+
+	Matrix3f m;
+	m.identity();
+	Matrix3f m1;
+	Matrix<3,3> mq;
+	mq.identity();
+	Matrix<3,3> mq1;
+	m1(0, 0) = 5.0;
+	Vector3f v = Vector3f(1.0f, 2.0f, 3.0f);
+	Vector3f v1;
+
+	unsigned int n = 60000;
+
+	hrt_abstime t0, t1;
+
+	t0 = hrt_absolute_time();
+	for (unsigned int j = 0; j < n; j++) {
+		v1 = m * v;
+	}
+	t1 = hrt_absolute_time();
+	warnx("Matrix * Vector: %s %.6fus", formatResult(v1 == v), (double)(t1 - t0) / n);
+
+	t0 = hrt_absolute_time();
+	for (unsigned int j = 0; j < n; j++) {
+		mq1 = mq * mq;
+	}
+	t1 = hrt_absolute_time();
+	warnx("Matrix * Matrix: %s %.6fus", formatResult(mq1 == mq), (double)(t1 - t0) / n);
+	mq1.dump();
+
+	t0 = hrt_absolute_time();
+	for (unsigned int j = 0; j < n; j++) {
+		m1 = m.transposed();
+	}
+	t1 = hrt_absolute_time();
+	warnx("Matrix Transpose: %s %.6fus", formatResult(m1 == m), (double)(t1 - t0) / n);
+
+	t0 = hrt_absolute_time();
+	for (unsigned int j = 0; j < n; j++) {
+		m1 = m.inversed();
+	}
+	t1 = hrt_absolute_time();
+	warnx("Matrix Invert: %s %.6fus", formatResult(m1 == m), (double)(t1 - t0) / n);
+
+	Matrix<4,4> mn;
+	mn(0, 0) = 2.0f;
+	mn(1, 0) = 3.0f;
+	for (int i = 0; i < mn.getRows(); i++) {
+		for (int j = 0; j < mn.getCols(); j++) {
+			printf("%.3f ", mn(i, j));
+		}
+		printf("\n");
+	}
+	return 0;
+}