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/**
* @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;
}
}
}
return rc;
}
