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Matrix: convert square test to gtest

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This commit is contained in:
Matthias Grob 2022-02-23 15:04:54 +01:00
parent 555ed9b9d8
commit b3cc18c6de
2 changed files with 58 additions and 28 deletions
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2
src/lib/matrix/test/CMakeLists.txt
View File

@ -11,7 +11,6 @@ set(tests
vector
vector2
vector3
squareMatrix
upperRightTriangle
)
@ -44,4 +43,5 @@ px4_add_unit_gtest(SRC MatrixScalarMultiplicationTest.cpp)
px4_add_unit_gtest(SRC MatrixSetIdentityTest.cpp)
px4_add_unit_gtest(SRC MatrixSliceTest.cpp)
px4_add_unit_gtest(SRC MatrixSparseVectorTest.cpp)
px4_add_unit_gtest(SRC MatrixSquareTest.cpp)
px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)

84
src/lib/matrix/test/squareMatrix.cpp → src/lib/matrix/test/MatrixSquareTest.cpp
View File

@ -1,10 +1,42 @@
#include "test_macros.hpp"
/****************************************************************************
*
* Copyright (C) 2022 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.
*
****************************************************************************/
#include <gtest/gtest.h>
#include <matrix/math.hpp>
using namespace matrix;
int main()
TEST(MatrixSquareTest, Square)
{
float data[9] = {1, 2, 3,
4, 5, 6,
@ -13,8 +45,8 @@ int main()
SquareMatrix<float, 3> A(data);
Vector3<float> diag_check(1, 5, 10);
TEST(isEqual(A.diag(), diag_check));
TEST(A.trace() - 16 < FLT_EPSILON);
EXPECT_EQ(A.diag(), diag_check);
EXPECT_FLOAT_EQ(A.trace(), 16);
float data_check[9] = {
1.01158503f, 0.02190432f, 0.03238144f,
@ -25,7 +57,7 @@ int main()
float dt = 0.01f;
SquareMatrix<float, 3> eA = expm(SquareMatrix<float, 3>(A * dt), 5);
SquareMatrix<float, 3> eA_check(data_check);
TEST((eA - eA_check).abs().max() < 1e-3f);
EXPECT_TRUE(isEqual(eA, eA_check, 1e-3f));
SquareMatrix<float, 2> A_bottomright = A.slice<2, 2>(1, 1);
SquareMatrix<float, 2> A_bottomright2;
@ -35,8 +67,8 @@ int main()
8, 10
};
SquareMatrix<float, 2> bottomright_check(data_bottomright);
TEST(isEqual(A_bottomright, bottomright_check));
TEST(isEqual(A_bottomright2, bottomright_check));
EXPECT_EQ(A_bottomright, bottomright_check);
EXPECT_EQ(A_bottomright2, bottomright_check);
// test diagonal functions
float data_4x4[16] = {1, 2, 3, 4,
@ -53,7 +85,7 @@ int main()
13, 0, 15, 16
};
SquareMatrix<float, 4> B_check(data_B_check);
TEST(isEqual(B, B_check))
EXPECT_EQ(B, B_check);
SquareMatrix<float, 4> C(data_4x4);
C.uncorrelateCovariance<2>(1);
@ -63,7 +95,7 @@ int main()
13, 0, 0, 16
};
SquareMatrix<float, 4> C_check(data_C_check);
TEST(isEqual(C, C_check))
EXPECT_EQ(C, C_check);
SquareMatrix<float, 4> D(data_4x4);
D.uncorrelateCovarianceSetVariance<2>(0, Vector2f{20, 21});
@ -73,7 +105,7 @@ int main()
0, 0, 15, 16
};
SquareMatrix<float, 4> D_check(data_D_check);
TEST(isEqual(D, D_check))
EXPECT_EQ(D, D_check);
SquareMatrix<float, 4> E(data_4x4);
E.uncorrelateCovarianceSetVariance<3>(1, 33);
@ -83,7 +115,7 @@ int main()
0, 0, 0, 33
};
SquareMatrix<float, 4> E_check(data_E_check);
TEST(isEqual(E, E_check))
EXPECT_EQ(E, E_check);
// test symmetric functions
SquareMatrix<float, 4> F(data_4x4);
@ -94,9 +126,9 @@ int main()
13, 14, 15, 16
};
SquareMatrix<float, 4> F_check(data_F_check);
TEST(isEqual(F, F_check))
TEST(F.isBlockSymmetric<2>(1));
TEST(!F.isRowColSymmetric<2>(1));
EXPECT_EQ(F, F_check);
EXPECT_TRUE(F.isBlockSymmetric<2>(1));
EXPECT_FALSE(F.isRowColSymmetric<2>(1));
SquareMatrix<float, 4> G(data_4x4);
G.makeRowColSymmetric<2>(1);
@ -106,9 +138,9 @@ int main()
13, 11, 13.5, 16
};
SquareMatrix<float, 4> G_check(data_G_check);
TEST(isEqual(G, G_check));
TEST(G.isBlockSymmetric<2>(1));
TEST(G.isRowColSymmetric<2>(1));
EXPECT_EQ(G, G_check);
EXPECT_TRUE(G.isBlockSymmetric<2>(1));
EXPECT_TRUE(G.isRowColSymmetric<2>(1));
SquareMatrix<float, 4> H(data_4x4);
H.makeBlockSymmetric<1>(1);
@ -118,9 +150,9 @@ int main()
13, 14, 15, 16
};
SquareMatrix<float, 4> H_check(data_H_check);
TEST(isEqual(H, H_check))
TEST(H.isBlockSymmetric<1>(1));
TEST(!H.isRowColSymmetric<1>(1));
EXPECT_EQ(H, H_check);
EXPECT_TRUE(H.isBlockSymmetric<1>(1));
EXPECT_FALSE(H.isRowColSymmetric<1>(1));
SquareMatrix<float, 4> J(data_4x4);
J.makeRowColSymmetric<1>(1);
@ -130,10 +162,10 @@ int main()
13, 11, 15, 16
};
SquareMatrix<float, 4> J_check(data_J_check);
TEST(isEqual(J, J_check));
TEST(J.isBlockSymmetric<1>(1));
TEST(J.isRowColSymmetric<1>(1));
TEST(!J.isBlockSymmetric<3>(1));
EXPECT_EQ(J, J_check);
EXPECT_TRUE(J.isBlockSymmetric<1>(1));
EXPECT_TRUE(J.isRowColSymmetric<1>(1));
EXPECT_FALSE(J.isBlockSymmetric<3>(1));
float data_K[16] = {1, 2, 3, 4,
2, 3, 4, 11,
@ -141,7 +173,5 @@ int main()
4, 11, 15, 16
};
SquareMatrix<float, 4> K(data_K);
TEST(!K.isRowColSymmetric<1>(2));
return 0;
EXPECT_FALSE(K.isRowColSymmetric<1>(2));
}