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97 lines
3.3 KiB
C++
97 lines
3.3 KiB
C++
/****************************************************************************
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*
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* Copyright (C) 2022 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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#include <gtest/gtest.h>
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#include <matrix/math.hpp>
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using namespace matrix;
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int test_4x3(void);
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template<typename Type> int test_4x4(void);
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int test_4x4_type_double(void);
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int test_div_zero(void);
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TEST(MatrixLeastSquaresTest, 4x3)
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{
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// Start with an (m x n) A matrix
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float data[12] = {20.f, -10.f, -13.f,
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17.f, 16.f, -18.f,
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0.7f, -0.8f, 0.9f,
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-1.f, -1.1f, -1.2f
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};
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Matrix<float, 4, 3> A(data);
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Vector4f b(2.0f, 3.0f, 4.0f, 5.0f);
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Vector3f x_check(-0.69168233f, -0.26227593f, -1.03767522f);
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LeastSquaresSolver<float, 4, 3> qrd = LeastSquaresSolver<float, 4, 3>(A);
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Vector3f x = qrd.solve(b);
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EXPECT_EQ(x, x_check);
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}
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TEST(MatrixLeastSquaresTest, 4x4)
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{
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// Start with an (m x n) A matrix
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const float data[16] = { 20.f, -10.f, -13.f, 21.f,
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17.f, 16.f, -18.f, -14.f,
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0.7f, -0.8f, 0.9f, -0.5f,
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-1.f, -1.1f, -1.2f, -1.3f
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};
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Matrix<float, 4, 4> A(data);
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Vector4f b(2.0f, 3.0f, 4.0f, 5.0f);
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Vector4f x_check(0.97893433f, -2.80798701f, -0.03175765f, -2.19387649f);
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LeastSquaresSolver<float, 4, 4> qrd = LeastSquaresSolver<float, 4, 4>(A);
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Vector4f x = qrd.solve(b);
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EXPECT_EQ(x, x_check);
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}
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TEST(MatrixLeastSquaresTest, ZeroDivision)
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{
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float data[4] = {0.0f, 0.0f, 0.0f, 0.0f};
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Matrix<float, 2, 2> A(data);
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float b_data[2] = {1.0f, 1.0f};
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Vector<float, 2> b(b_data);
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// Implement such that x returns zeros if it reaches div by zero
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float x_check_data[2] = {0.0f, 0.0f};
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Vector<float, 2> x_check(x_check_data);
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LeastSquaresSolver<float, 2, 2> qrd = LeastSquaresSolver<float, 2, 2>(A);
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Vector<float, 2> x = qrd.solve(b);
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EXPECT_EQ(x, x_check);
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}
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