PX4-Autopilot/src/systemcmds/tests/test_mathlib.cpp

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/**
 * @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"

#define TEST_OP(_title, _op) { unsigned int n = 60000; hrt_abstime t0, t1; t0 = hrt_absolute_time(); for (unsigned int j = 0; j < n; j++) { _op; }; t1 = hrt_absolute_time(); warnx(_title ": %.6fus", (double)(t1 - t0) / n); }

using namespace math;

int test_mathlib(int argc, char *argv[])
{
	warnx("testing mathlib");

	{
		Vector<2> v;
		Vector<2> v1(1.0f, 2.0f);
		Vector<2> v2(1.0f, -1.0f);
		float data[2] = {1.0f, 2.0f};
		TEST_OP("Constructor Vector<2>()", Vector<2> v3);
		TEST_OP("Constructor Vector<2>(Vector<2>)", Vector<2> v3(v1));
		TEST_OP("Constructor Vector<2>(float[])", Vector<2> v3(data));
		TEST_OP("Constructor Vector<2>(float, float)", Vector<2> v3(1.0f, 2.0f));
		TEST_OP("Vector<2> = Vector<2>", v = v1);
		TEST_OP("Vector<2> + Vector<2>", v + v1);
		TEST_OP("Vector<2> - Vector<2>", v - v1);
		TEST_OP("Vector<2> += Vector<2>", v += v1);
		TEST_OP("Vector<2> -= Vector<2>", v -= v1);
		TEST_OP("Vector<2> * Vector<2>", v * v1);
		TEST_OP("Vector<2> %% Vector<2>", v1 % v2);
	}

	{
		Vector<3> v;
		Vector<3> v1(1.0f, 2.0f, 0.0f);
		Vector<3> v2(1.0f, -1.0f, 2.0f);
		float data[3] = {1.0f, 2.0f, 3.0f};
		TEST_OP("Constructor Vector<3>()", Vector<3> v3);
		TEST_OP("Constructor Vector<3>(Vector<3>)", Vector<3> v3(v1));
		TEST_OP("Constructor Vector<3>(float[])", Vector<3> v3(data));
		TEST_OP("Constructor Vector<3>(float, float, float)", Vector<3> v3(1.0f, 2.0f, 3.0f));
		TEST_OP("Vector<3> = Vector<3>", v = v1);
		TEST_OP("Vector<3> + Vector<3>", v + v1);
		TEST_OP("Vector<3> - Vector<3>", v - v1);
		TEST_OP("Vector<3> += Vector<3>", v += v1);
		TEST_OP("Vector<3> -= Vector<3>", v -= v1);
		TEST_OP("Vector<3> * float", v1 * 2.0f);
		TEST_OP("Vector<3> / float", v1 / 2.0f);
		TEST_OP("Vector<3> *= float", v1 *= 2.0f);
		TEST_OP("Vector<3> /= float", v1 /= 2.0f);
		TEST_OP("Vector<3> * Vector<3>", v * v1);
		TEST_OP("Vector<3> %% Vector<3>", v1 % v2);
		TEST_OP("Vector<3> length", v1.length());
		TEST_OP("Vector<3> length squared", v1.length_squared());
#pragma GCC diagnostic push
#pragma GCC diagnostic ignored "-Wunused-variable"
		// Need pragma here intead of moving variable out of TEST_OP and just reference because
		// TEST_OP measures performance of vector operations.
		TEST_OP("Vector<3> element read", volatile float a = v1(0));
		TEST_OP("Vector<3> element read direct", volatile float a = v1.data[0]);
#pragma GCC diagnostic pop
		TEST_OP("Vector<3> element write", v1(0) = 1.0f);
		TEST_OP("Vector<3> element write direct", v1.data[0] = 1.0f);
	}

	{
		Vector<4> v;
		Vector<4> v1(1.0f, 2.0f, 0.0f, -1.0f);
		Vector<4> v2(1.0f, -1.0f, 2.0f, 0.0f);
		float data[4] = {1.0f, 2.0f, 3.0f, 4.0f};
		TEST_OP("Constructor Vector<4>()", Vector<4> v3);
		TEST_OP("Constructor Vector<4>(Vector<4>)", Vector<4> v3(v1));
		TEST_OP("Constructor Vector<4>(float[])", Vector<4> v3(data));
		TEST_OP("Constructor Vector<4>(float, float, float, float)", Vector<4> v3(1.0f, 2.0f, 3.0f, 4.0f));
		TEST_OP("Vector<4> = Vector<4>", v = v1);
		TEST_OP("Vector<4> + Vector<4>", v + v1);
		TEST_OP("Vector<4> - Vector<4>", v - v1);
		TEST_OP("Vector<4> += Vector<4>", v += v1);
		TEST_OP("Vector<4> -= Vector<4>", v -= v1);
		TEST_OP("Vector<4> * Vector<4>", v * v1);
	}

	{
		Vector<10> v1;
		v1.zero();
		float data[10];
		TEST_OP("Constructor Vector<10>()", Vector<10> v3);
		TEST_OP("Constructor Vector<10>(Vector<10>)", Vector<10> v3(v1));
		TEST_OP("Constructor Vector<10>(float[])", Vector<10> v3(data));
	}

	{
		Matrix<3, 3> m1;
		m1.identity();
		Matrix<3, 3> m2;
		m2.identity();
		Vector<3> v1(1.0f, 2.0f, 0.0f);
		TEST_OP("Matrix<3, 3> * Vector<3>", m1 * v1);
		TEST_OP("Matrix<3, 3> + Matrix<3, 3>", m1 + m2);
		TEST_OP("Matrix<3, 3> * Matrix<3, 3>", m1 * m2);
	}

	{
		Matrix<10, 10> m1;
		m1.identity();
		Matrix<10, 10> m2;
		m2.identity();
		Vector<10> v1;
		v1.zero();
		TEST_OP("Matrix<10, 10> * Vector<10>", m1 * v1);
		TEST_OP("Matrix<10, 10> + Matrix<10, 10>", m1 + m2);
		TEST_OP("Matrix<10, 10> * Matrix<10, 10>", m1 * m2);
	}

	return 0;
}