PX4-Autopilot/src/lib/matrix/test/MatrixSparseVectorTest.cpp

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#include <gtest/gtest.h>
#include <matrix/math.hpp>

using namespace matrix;

TEST(MatrixSparseVectorTest, defaultConstruction)
{
	SparseVectorf<24, 4, 6> a;
	EXPECT_EQ(a.non_zeros(), 2);
	EXPECT_EQ(a.index(0), 4);
	EXPECT_EQ(a.index(1), 6);
	a.at<4>() = 1.f;
	a.at<6>() = 2.f;
}

TEST(MatrixSparseVectorTest, initializationWithData)
{
	const float data[3] = {1.f, 2.f, 3.f};
	SparseVectorf<24, 4, 6, 22> a(data);
	EXPECT_EQ(a.non_zeros(), 3);
	EXPECT_EQ(a.index(0), 4);
	EXPECT_EQ(a.index(1), 6);
	EXPECT_EQ(a.index(2), 22);
	EXPECT_FLOAT_EQ(a.at<4>(), data[0]);
	EXPECT_FLOAT_EQ(a.at<6>(), data[1]);
	EXPECT_FLOAT_EQ(a.at<22>(), data[2]);
}

TEST(MatrixSparseVectorTest, initialisationFromVector)
{
	const Vector3f vec(1.f, 2.f, 3.f);
	const SparseVectorf<3, 0, 2> a(vec);
	EXPECT_FLOAT_EQ(a.at<0>(), vec(0));
	EXPECT_FLOAT_EQ(a.at<2>(), vec(2));
}

TEST(MatrixSparseVectorTest, accessDataWithCompressedIndices)
{
	const Vector3f vec(1.f, 2.f, 3.f);
	SparseVectorf<3, 0, 2> a(vec);

	for (size_t i = 0; i < a.non_zeros(); i++) {
		a.atCompressedIndex(i) = static_cast<float>(i);
	}

	EXPECT_FLOAT_EQ(a.at<0>(), a.atCompressedIndex(0));
	EXPECT_FLOAT_EQ(a.at<2>(), a.atCompressedIndex(1));
}

TEST(MatrixSparseVectorTest, setZero)
{
	const float data[3] = {1.f, 2.f, 3.f};
	SparseVectorf<24, 4, 6, 22> a(data);
	a.setZero();
	EXPECT_FLOAT_EQ(a.at<4>(), 0.f);
	EXPECT_FLOAT_EQ(a.at<6>(), 0.f);
	EXPECT_FLOAT_EQ(a.at<22>(), 0.f);
}

TEST(MatrixSparseVectorTest, additionWithDenseVector)
{
	Vector<float, 4> dense_vec;
	dense_vec.setAll(1.f);
	const float data[3] = {1.f, 2.f, 3.f};
	const SparseVectorf<4, 1, 2, 3> sparse_vec(data);
	const Vector<float, 4> res = sparse_vec + dense_vec;
	EXPECT_FLOAT_EQ(res(0), 1.f);
	EXPECT_FLOAT_EQ(res(1), 2.f);
	EXPECT_FLOAT_EQ(res(2), 3.f);
	EXPECT_FLOAT_EQ(res(3), 4.f);
}

TEST(MatrixSparseVectorTest, addScalar)
{
	const float data[3] = {1.f, 2.f, 3.f};
	SparseVectorf<4, 1, 2, 3> sparse_vec(data);
	sparse_vec += 2.f;
	EXPECT_FLOAT_EQ(sparse_vec.at<1>(), 3.f);
	EXPECT_FLOAT_EQ(sparse_vec.at<2>(), 4.f);
	EXPECT_FLOAT_EQ(sparse_vec.at<3>(), 5.f);
}

TEST(MatrixSparseVectorTest, dotProductWithDenseVector)
{
	Vector<float, 4> dense_vec;
	dense_vec.setAll(3.f);
	const float data[3] = {1.f, 2.f, 3.f};
	const SparseVectorf<4, 1, 2, 3> sparse_vec(data);
	float res = sparse_vec.dot(dense_vec);
	EXPECT_FLOAT_EQ(res, 18.f);
}

TEST(MatrixSparseVectorTest, multiplicationWithDenseMatrix)
{
	Matrix<float, 2, 3> dense_matrix;
	dense_matrix.setAll(2.f);
	dense_matrix(1, 1) = 3.f;
	const Vector3f dense_vec(0.f, 1.f, 5.f);
	const SparseVectorf<3, 1, 2> sparse_vec(dense_vec);
	const Vector<float, 2> res_sparse = dense_matrix * sparse_vec;
	const Vector<float, 2> res_dense = dense_matrix * dense_vec;
	EXPECT_TRUE(isEqual(res_dense, res_sparse));
}

TEST(MatrixSparseVectorTest, quadraticForm)
{
	float matrix_data[9] = {1, 2, 3,
				2, 4, 5,
				3, 5, 6
			       };
	const SquareMatrix<float, 3> dense_matrix(matrix_data);
	const Vector3f dense_vec(0.f, 1.f, 5.f);
	const SparseVectorf<3, 1, 2> sparse_vec(dense_vec);
	EXPECT_FLOAT_EQ(quadraticForm(dense_matrix, sparse_vec), 204.f);
}

TEST(MatrixSparseVectorTest, norms)
{
	const float data[2] = {3.f, 4.f};
	const SparseVectorf<4, 1, 3> sparse_vec(data);
	EXPECT_FLOAT_EQ(sparse_vec.norm_squared(), 25.f);
	EXPECT_FLOAT_EQ(sparse_vec.norm(), 5.f);
	EXPECT_TRUE(sparse_vec.longerThan(4.5f));
	EXPECT_FALSE(sparse_vec.longerThan(5.5f));
}