* Add SparseVector
temp
* Add gtest
* Some reworking of the sparse concept
* Change type of M from int to size_t
* Add const modifier
* Add needed declaration for accessing elements of _indices
* Add norm_squared, norm, longerThan
* Add test for all sparse vector functions
* Add missing const to slice's norm_squared, norm and longerThan
* Construction from Vector<M> and carray[N]
* try to fix ci
Co-authored-by: Julian Kent <julian@auterion.com>
GCC 10 gives a warning
"comparison of unsigned expression in ‘>= 0’ is always true"
for these asserts since checking if an unsigned integer cannot
be negative and hence the statement gets droped.
Most often the multiplication in convention descriptions and papers is
described in matrix multiplication style like this:
q · p := Q(q)p
Q(q) :=
[q0 −q1 −q2 −q3]
[q1 q0 −q3 q2]
[q2 q3 q0 −q1]
[q3 −q2 q1 q0]
I'm just rearanging the terms such that it's easily comparable with
these definitions additional to it being clearly described by
documenting we use the hamilton convention.
I want to switch the print() function back to use printf()
such that it's fully compatible with all (embedded) platforms.
To still test the print function I'm capturing stdout into a file
such that the print() function can stay unchanged and the result of
the printf()s can be evaluated.
This is important depending on the platform because norm()
calls matrix::squrt() which dispatches correctly to the implementation
for the used type. Otherwise float squrt()s can get calculated as
double.
* Fix compilation error
* Add implementation of pseudo-inverse
The implementation is based on this publication:
Courrieu, P. (2008). Fast Computation of Moore-Penrose Inverse Matrices, 8(2), 25–29. http://arxiv.org/abs/0804.4809
It is a fully templated implementation to guaranty type correctness.
* Add tests for pseudoinverse
* Apply suggestions from code review
Co-Authored-By: Mathieu Bresciani <brescianimathieu@gmail.com>
* Adapt fullRankCholesky tolerance to type
* Add pseudoinverse test with effectiveness matrix
* Fix coverage
* Fix rebase issue
* Fix SquareMatrix test, add null Matrix test
Before the print function was just implicitly called somewhere
and that's why we had 100% line coverage. With this we have actual
testing of the functions.
The original implementation with no wrapping on size_t is more readable
but the compiler errors with:
internal compiler error: in trunc_int_for_mode, at explow.c:55
I read up and it's apparently a loop optimization problem.
Inspired by https://stackoverflow.com/a/27224697/6326048
I used a far less readable implementation that works fine and
wrote a comment to explain it.
kritz