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Matrix: convert inverse test to gtest

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This commit is contained in:
Matthias Grob
2022-03-17 13:02:22 +01:00
parent f5ec4b2339
commit fddcf342e9
2 changed files with 62 additions and 31 deletions
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src/lib/matrix/test/CMakeLists.txt
+1 -1
View File
@@ -7,7 +7,6 @@ add_compile_options(
set(tests
setIdentity
inverse
slice
matrixMult
vectorAssignment
@@ -43,5 +42,6 @@ px4_add_unit_gtest(SRC MatrixFilterTest.cpp)
px4_add_unit_gtest(SRC MatrixHatveeTest.cpp)
px4_add_unit_gtest(SRC MatrixHelperTest.cpp)
px4_add_unit_gtest(SRC MatrixIntegralTest.cpp)
px4_add_unit_gtest(SRC MatrixInverseTest.cpp)
px4_add_unit_gtest(SRC MatrixSparseVectorTest.cpp)
px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)
src/lib/matrix/test/inverse.cpp → src/lib/matrix/test/MatrixInverseTest.cpp
+61 -30
View File
@@ -1,11 +1,44 @@
#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;
static const size_t n_large = 50;
int main()
TEST(MatrixInverseTest, Inverse)
{
float data[9] = {0, 2, 3,
4, 5, 6,
@@ -20,7 +53,7 @@ int main()
SquareMatrix<float, 3> A(data);
SquareMatrix<float, 3> A_I = inv(A);
SquareMatrix<float, 3> A_I_check(data_check);
TEST((A_I - A_I_check).abs().max() < 1e-6f);
EXPECT_EQ(A_I, A_I_check);
float data_2x2[4] = {12, 2,
-7, 5
@@ -33,15 +66,15 @@ int main()
SquareMatrix<float, 2> A2x2(data_2x2);
SquareMatrix<float, 2> A2x2_I = inv(A2x2);
SquareMatrix<float, 2> A2x2_I_check(data_2x2_check);
TEST(isEqual(A2x2_I, A2x2_I_check));
EXPECT_EQ(A2x2_I, A2x2_I_check);
SquareMatrix<float, 2> A2x2_sing = ones<float, 2, 2>();
SquareMatrix<float, 2> A2x2_sing_I;
TEST(inv(A2x2_sing, A2x2_sing_I) == false);
EXPECT_FALSE(inv(A2x2_sing, A2x2_sing_I));
SquareMatrix<float, 3> A3x3_sing = ones<float, 3, 3>();
SquareMatrix<float, 3> A3x3_sing_I;
TEST(inv(A3x3_sing, A3x3_sing_I) == false)
EXPECT_FALSE(inv(A3x3_sing, A3x3_sing_I));
// stess test
SquareMatrix<float, n_large> A_large;
@@ -51,11 +84,11 @@ int main()
for (size_t i = 0; i < n_large; i++) {
A_large_I = inv(A_large);
TEST(isEqual(A_large, A_large_I));
EXPECT_EQ(A_large, A_large_I);
}
SquareMatrix<float, 3> zero_test = zeros<float, 3, 3>();
TEST(isEqual(inv(zero_test), zeros<float, 3, 3>()));
EXPECT_EQ(inv(zero_test), zero_test);
// test pivotting
float data2[81] = {
@@ -84,7 +117,7 @@ int main()
SquareMatrix<float, 9> A2(data2);
SquareMatrix<float, 9> A2_I = inv(A2);
SquareMatrix<float, 9> A2_I_check(data2_check);
TEST((A2_I - A2_I_check).abs().max() < 1e-3f);
EXPECT_TRUE(isEqual(A2_I, A2_I_check, 1e-3f));
float data3[9] = {
0, 1, 2,
@@ -99,10 +132,10 @@ int main()
SquareMatrix<float, 3> A3(data3);
SquareMatrix<float, 3> A3_I = inv(A3);
SquareMatrix<float, 3> A3_I_check(data3_check);
TEST(isEqual(inv(A3), A3_I_check));
TEST(isEqual(A3_I, A3_I_check));
TEST(A3.I(A3_I));
TEST(isEqual(A3_I, A3_I_check));
EXPECT_EQ(inv(A3), A3_I_check);
EXPECT_EQ(A3_I, A3_I_check);
EXPECT_TRUE(A3.I(A3_I));
EXPECT_EQ(A3_I, A3_I_check);
// cover singular matrices
A3(0, 0) = 0;
@@ -110,10 +143,10 @@ int main()
A3(0, 2) = 0;
A3_I = inv(A3);
SquareMatrix<float, 3> Z3 = zeros<float, 3, 3>();
TEST(!A3.I(A3_I));
TEST(!Z3.I(A3_I));
TEST(isEqual(A3_I, Z3));
TEST(isEqual(A3.I(), Z3));
EXPECT_FALSE(A3.I(A3_I));
EXPECT_FALSE(Z3.I(A3_I));
EXPECT_EQ(A3_I, Z3);
EXPECT_EQ(A3.I(), Z3);
for (size_t i = 0; i < 9; i++) {
A2(0, i) = 0;
@@ -121,23 +154,23 @@ int main()
A2_I = inv(A2);
SquareMatrix<float, 9> Z9 = zeros<float, 9, 9>();
TEST(!A2.I(A2_I));
TEST(!Z9.I(A2_I));
TEST(isEqual(A2_I, Z9));
TEST(isEqual(A2.I(), Z9));
EXPECT_FALSE(A2.I(A2_I));
EXPECT_FALSE(Z9.I(A2_I));
EXPECT_EQ(A2_I, Z9);
EXPECT_EQ(A2.I(), Z9);
// cover NaN
A3(0, 0) = NAN;
A3(0, 1) = 0;
A3(0, 2) = 0;
A3_I = inv(A3);
TEST(isEqual(A3_I, Z3));
TEST(isEqual(A3.I(), Z3));
EXPECT_EQ(A3_I, Z3);
EXPECT_EQ(A3.I(), Z3);
A2(0, 0) = NAN;
A2_I = inv(A2);
TEST(isEqual(A2_I, Z9));
TEST(isEqual(A2.I(), Z9));
EXPECT_EQ(A2_I, Z9);
EXPECT_EQ(A2.I(), Z9);
float data4[9] = {
1.33471626f, 0.74946721f, -0.0531679f,
@@ -153,12 +186,10 @@ int main()
};
SquareMatrix<float, 3> A4_cholesky_check(data4_cholesky);
SquareMatrix<float, 3> A4_cholesky = cholesky(A4);
TEST(isEqual(A4_cholesky_check, A4_cholesky));
EXPECT_EQ(A4_cholesky_check, A4_cholesky);
SquareMatrix<float, 3> I3;
I3.setIdentity();
TEST(isEqual(choleskyInv(A4)*A4, I3));
TEST(isEqual(cholesky(Z3), Z3));
return 0;
EXPECT_EQ(choleskyInv(A4)*A4, I3);
EXPECT_EQ(cholesky(Z3), Z3);
}