mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-05-02 05:04:08 +08:00
33 lines
706 B
C++
33 lines
706 B
C++
#include "Matrix.hpp"
|
|
#include <assert.h>
|
|
#include <stdio.h>
|
|
|
|
using namespace matrix;
|
|
|
|
int main()
|
|
{
|
|
float data[9] = {1, 0, 0, 0, 1, 0, 1, 0, 1};
|
|
Matrix3f A(data);
|
|
Matrix3f A_I = A.inverse();
|
|
float data_check[9] = {1, 0, 0, 0, 1, 0, -1, 0, 1};
|
|
Matrix3f A_I_check(data_check);
|
|
(void)A_I;
|
|
assert(A_I == A_I_check);
|
|
|
|
// stess test
|
|
static const size_t n = 50;
|
|
Matrix<float, n, n> A_large;
|
|
A_large.setIdentity();
|
|
Matrix<float, n, n> A_large_I;
|
|
A_large_I.setZero();
|
|
|
|
for (size_t i = 0; i < 50; i++) {
|
|
A_large_I = A_large.inverse();
|
|
assert(A_large == A_large_I);
|
|
}
|
|
|
|
return 0;
|
|
}
|
|
|
|
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
|