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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"
using namespace math;
const char* formatResult(bool res) {
return res ? "OK" : "ERROR";
}
int test_mathlib(int argc, char *argv[])
{
warnx("testing mathlib");
Matrix3f m;
m.identity();
Matrix3f m1;
Matrix<3,3> mq;
mq.identity();
Matrix<3,3> mq1;
m1(0, 0) = 5.0;
Vector3f v = Vector3f(1.0f, 2.0f, 3.0f);
Vector3f v1;
unsigned int n = 60000;
hrt_abstime t0, t1;
t0 = hrt_absolute_time();
for (unsigned int j = 0; j < n; j++) {
v1 = m * v;
}
t1 = hrt_absolute_time();
warnx("Matrix * Vector: %s %.6fus", formatResult(v1 == v), (double)(t1 - t0) / n);
t0 = hrt_absolute_time();
for (unsigned int j = 0; j < n; j++) {
mq1 = mq * mq;
}
t1 = hrt_absolute_time();
warnx("Matrix * Matrix: %s %.6fus", formatResult(mq1 == mq), (double)(t1 - t0) / n);
mq1.dump();
t0 = hrt_absolute_time();
for (unsigned int j = 0; j < n; j++) {
m1 = m.transposed();
}
t1 = hrt_absolute_time();
warnx("Matrix Transpose: %s %.6fus", formatResult(m1 == m), (double)(t1 - t0) / n);
t0 = hrt_absolute_time();
for (unsigned int j = 0; j < n; j++) {
m1 = m.inversed();
}
t1 = hrt_absolute_time();
warnx("Matrix Invert: %s %.6fus", formatResult(m1 == m), (double)(t1 - t0) / n);
Matrix<4,4> mn;
mn(0, 0) = 2.0f;
mn(1, 0) = 3.0f;
for (int i = 0; i < mn.getRows(); i++) {
for (int j = 0; j < mn.getCols(); j++) {
printf("%.3f ", mn(i, j));
}
printf("\n");
}
return 0;
}