1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
|
/****************************************************************************
*
* Copyright (c) 2013-2015 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* @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[])
{
int rc = 0;
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);
}
{
warnx("Nonsymmetric matrix operations test");
// test nonsymmetric +, -, +=, -=
float data1[2][3] = {{1, 2, 3}, {4, 5, 6}};
float data2[2][3] = {{2, 4, 6}, {8, 10, 12}};
float data3[2][3] = {{3, 6, 9}, {12, 15, 18}};
Matrix<2, 3> m1(data1);
Matrix<2, 3> m2(data2);
Matrix<2, 3> m3(data3);
if (m1 + m2 != m3) {
warnx("Matrix<2, 3> + Matrix<2, 3> failed!");
(m1 + m2).print();
printf("!=\n");
m3.print();
rc = 1;
}
if (m3 - m2 != m1) {
warnx("Matrix<2, 3> - Matrix<2, 3> failed!");
(m3 - m2).print();
printf("!=\n");
m1.print();
rc = 1;
}
m1 += m2;
if (m1 != m3) {
warnx("Matrix<2, 3> += Matrix<2, 3> failed!");
m1.print();
printf("!=\n");
m3.print();
rc = 1;
}
m1 -= m2;
Matrix<2, 3> m1_orig(data1);
if (m1 != m1_orig) {
warnx("Matrix<2, 3> -= Matrix<2, 3> failed!");
m1.print();
printf("!=\n");
m1_orig.print();
rc = 1;
}
}
{
// test conversion rotation matrix to quaternion and back
math::Matrix<3, 3> R_orig;
math::Matrix<3, 3> R;
math::Quaternion q;
float diff = 0.1f;
float tol = 0.00001f;
warnx("Quaternion transformation methods test.");
for (float roll = -M_PI_F; roll <= M_PI_F; roll += diff) {
for (float pitch = -M_PI_2_F; pitch <= M_PI_2_F; pitch += diff) {
for (float yaw = -M_PI_F; yaw <= M_PI_F; yaw += diff) {
R_orig.from_euler(roll, pitch, yaw);
q.from_dcm(R_orig);
R = q.to_dcm();
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
if (fabsf(R_orig.data[i][j] - R.data[i][j]) > 0.00001f) {
warnx("Quaternion method 'from_dcm' or 'to_dcm' outside tolerance!");
rc = 1;
}
}
}
}
}
}
// test against some known values
tol = 0.0001f;
math::Quaternion q_true = {1.0f, 0.0f, 0.0f, 0.0f};
R_orig.identity();
q.from_dcm(R_orig);
for (unsigned i = 0; i < 4; i++) {
if (fabsf(q.data[i] - q_true.data[i]) > tol) {
warnx("Quaternion method 'from_dcm()' outside tolerance!");
rc = 1;
}
}
q_true.from_euler(0.3f, 0.2f, 0.1f);
q = {0.9833f, 0.1436f, 0.1060f, 0.0343f};
for (unsigned i = 0; i < 4; i++) {
if (fabsf(q.data[i] - q_true.data[i]) > tol) {
warnx("Quaternion method 'from_euler()' outside tolerance!");
rc = 1;
}
}
q_true.from_euler(-1.5f, -0.2f, 0.5f);
q = {0.7222f, -0.6391f, -0.2386f, 0.1142f};
for (unsigned i = 0; i < 4; i++) {
if (fabsf(q.data[i] - q_true.data[i]) > tol) {
warnx("Quaternion method 'from_euler()' outside tolerance!");
rc = 1;
}
}
q_true.from_euler(M_PI_2_F, -M_PI_2_F, -M_PI_F / 3);
q = {0.6830f, 0.1830f, -0.6830f, 0.1830f};
for (unsigned i = 0; i < 4; i++) {
if (fabsf(q.data[i] - q_true.data[i]) > tol) {
warnx("Quaternion method 'from_euler()' outside tolerance!");
rc = 1;
}
}
}
{
// test quaternion method "rotate" (rotate vector by quaternion)
Vector<3> vector = {1.0f, 1.0f, 1.0f};
Vector<3> vector_q;
Vector<3> vector_r;
Quaternion q;
Matrix<3, 3> R;
float diff = 0.1f;
float tol = 0.00001f;
warnx("Quaternion vector rotation method test.");
for (float roll = -M_PI_F; roll <= M_PI_F; roll += diff) {
for (float pitch = -M_PI_2_F; pitch <= M_PI_2_F; pitch += diff) {
for (float yaw = -M_PI_F; yaw <= M_PI_F; yaw += diff) {
R.from_euler(roll, pitch, yaw);
q.from_euler(roll, pitch, yaw);
vector_r = R * vector;
vector_q = q.rotate(vector);
for (int i = 0; i < 3; i++) {
if (fabsf(vector_r(i) - vector_q(i)) > tol) {
warnx("Quaternion method 'rotate' outside tolerance");
rc = 1;
}
}
}
}
}
// test some values calculated with matlab
tol = 0.0001f;
q.from_euler(M_PI_2_F, 0.0f, 0.0f);
vector_q = q.rotate(vector);
Vector<3> vector_true = {1.00f, -1.00f, 1.00f};
for (unsigned i = 0; i < 3; i++) {
if (fabsf(vector_true(i) - vector_q(i)) > tol) {
warnx("Quaternion method 'rotate' outside tolerance");
rc = 1;
}
}
q.from_euler(0.3f, 0.2f, 0.1f);
vector_q = q.rotate(vector);
vector_true = {1.1566, 0.7792, 1.0273};
for (unsigned i = 0; i < 3; i++) {
if (fabsf(vector_true(i) - vector_q(i)) > tol) {
warnx("Quaternion method 'rotate' outside tolerance");
rc = 1;
}
}
q.from_euler(-1.5f, -0.2f, 0.5f);
vector_q = q.rotate(vector);
vector_true = {0.5095, 1.4956, -0.7096};
for (unsigned i = 0; i < 3; i++) {
if (fabsf(vector_true(i) - vector_q(i)) > tol) {
warnx("Quaternion method 'rotate' outside tolerance");
rc = 1;
}
}
q.from_euler(M_PI_2_F, -M_PI_2_F, -M_PI_F / 3.0f);
vector_q = q.rotate(vector);
vector_true = { -1.3660, 0.3660, 1.0000};
for (unsigned i = 0; i < 3; i++) {
if (fabsf(vector_true(i) - vector_q(i)) > tol) {
warnx("Quaternion method 'rotate' outside tolerance");
rc = 1;
}
}
}
return rc;
}
|
