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/**
* @file Matrix.cpp
*
* matrix code
*/
#include <systemlib/test/test.hpp>
#include <math.h>
#include "Matrix.hpp"
namespace math
{
static const float data_testA[] =
{1,2,3,
4,5,6};
static Matrix testA(2,3,data_testA);
static const float data_testB[] =
{0,1,3,
7,-1,2};
static Matrix testB(2,3,data_testB);
static const float data_testC[] =
{0,1,
2,1,
3,2};
static Matrix testC(3,2,data_testC);
static const float data_testD[] =
{0,1,2,
2,1,4,
5,2,0};
static Matrix testD(3,3,data_testD);
static const float data_testE[] =
{1,-1,2,
0,2,3,
2,-1,1};
static Matrix testE(3,3,data_testE);
static const float data_testF[] =
{3.777e006f, 2.915e007f, 0.000e000f,
2.938e007f, 2.267e008f, 0.000e000f,
0.000e000f, 0.000e000f, 6.033e008f};
static Matrix testF(3,3,data_testF);
int __EXPORT matrixTest()
{
matrixAddTest();
matrixSubTest();
matrixMultTest();
matrixInvTest();
matrixDivTest();
return 0;
}
int matrixAddTest()
{
printf("Test Matrix Add\t\t: ");
Matrix r = testA + testB;
float data_test[] =
{ 1.0f, 3.0f, 6.0f,
11.0f, 4.0f, 8.0f};
ASSERT(matrixEqual(Matrix(2,3,data_test),r));
printf("PASS\n");
return 0;
}
int matrixSubTest()
{
printf("Test Matrix Sub\t\t: ");
Matrix r = testA - testB;
float data_test[] =
{ 1.0f, 1.0f, 0.0f,
-3.0f, 6.0f, 4.0f};
ASSERT(matrixEqual(Matrix(2,3,data_test),r));
printf("PASS\n");
return 0;
}
int matrixMultTest()
{
printf("Test Matrix Mult\t: ");
Matrix r = testC * testB;
float data_test[] =
{ 7.0f, -1.0f, 2.0f,
7.0f, 1.0f, 8.0f,
14.0f, 1.0f, 13.0f};
ASSERT(matrixEqual(Matrix(3,3,data_test),r));
printf("PASS\n");
return 0;
}
int matrixInvTest()
{
printf("Test Matrix Inv\t\t: ");
Matrix origF = testF;
Matrix r = testF.inverse();
float data_test[] =
{ -0.0012518f, 0.0001610f, 0.0000000f,
0.0001622f, -0.0000209f, 0.0000000f,
0.0000000f, 0.0000000f, 1.6580e-9f};
ASSERT(matrixEqual(Matrix(3,3,data_test),r));
// make sure F in unchanged
ASSERT(matrixEqual(origF,testF));
printf("PASS\n");
return 0;
}
int matrixDivTest()
{
printf("Test Matrix Div\t\t: ");
Matrix r = testD / testE;
float data_test[] = {
0.2222222f, 0.5555556f, -0.1111111f,
0.0f, 1.0f, 1.0,
-4.1111111f, 1.2222222f, 4.5555556f};
ASSERT(matrixEqual(Matrix(3,3,data_test),r));
printf("PASS\n");
return 0;
}
bool matrixEqual(const Matrix & a, const Matrix & b, float eps)
{
if (a.getRows() != b.getRows()) {
printf("row number not equal a: %d, b:%d\n", a.getRows(), b.getRows());
return false;
} else if (a.getCols() != b.getCols()) {
printf("column number not equal a: %d, b:%d\n", a.getCols(), b.getCols());
return false;
}
bool ret = true;
for (size_t i=0;i<a.getRows();i++)
for (size_t j =0;j<a.getCols();j++)
{
if (!equal(a(i,j),b(i,j),eps))
{
printf("element mismatch (%d, %d)\n", i, j);
ret = false;
}
}
return ret;
}
} // namespace math
