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101 lines
3.1 KiB
C++
101 lines
3.1 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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TEST(MatrixMultiplicationTest, Multiplication)
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{
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float data[9] = {1, 0, 0, 0, 1, 0, 1, 0, 1};
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Matrix3f A(data);
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float data_check[9] = {1, 0, 0, 0, 1, 0, -1, 0, 1};
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Matrix3f A_I(data_check);
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Matrix3f I;
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I.setIdentity();
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Matrix3f R = A * A_I;
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EXPECT_EQ(R, I);
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Matrix3f R2 = A;
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R2 *= A_I;
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EXPECT_EQ(R2, I);
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EXPECT_EQ(R2, I);
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EXPECT_NE(A, A_I);
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Matrix3f A2 = eye<float, 3>() * 2;
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Matrix3f B = A2.emult(A2);
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Matrix3f B_check = eye<float, 3>() * 4;
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Matrix3f C_check = eye<float, 3>() * 2;
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EXPECT_EQ(B, B_check);
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Matrix3f C = B_check.edivide(C_check);
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float off_diagonal_nan[9] = {2, NAN, NAN, NAN, 2, NAN, NAN, NAN, 2};
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// off diagonal are NANs because division by 0
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EXPECT_EQ(C, Matrix3f(off_diagonal_nan));
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// Test non-square matrix
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float data_43[12] = {1, 3, 2,
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2, 2, 1,
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5, 2, 1,
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2, 3, 4
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};
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float data_32[6] = {2, 3,
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1, 7,
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5, 4
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};
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Matrix<float, 4, 3> m43(data_43);
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Matrix<float, 3, 2> m32(data_32);
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Matrix<float, 4, 2> m42 = m43 * m32;
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float data_42[8] = {15, 32,
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11, 24,
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17, 33,
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27, 43
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};
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Matrix<float, 4, 2> m42_check(data_42);
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EXPECT_EQ(m42, m42_check);
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float data_42_plus2[8] = {17, 34,
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13, 26,
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19, 35,
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29, 45
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};
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Matrix<float, 4, 2> m42_plus2_check(data_42_plus2);
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Matrix<float, 4, 2> m42_plus2 = m42 - (-2);
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EXPECT_EQ(m42_plus2, m42_plus2_check);
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}
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