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author | jgoppert <james.goppert@gmail.com> | 2013-01-06 15:33:55 -0500 |
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committer | jgoppert <james.goppert@gmail.com> | 2013-01-06 15:33:55 -0500 |
commit | d9491b20cc5fc8b683eb0f60a50da6b322b55e57 (patch) | |
tree | 48d44accf2ccff88766bca351c78be06bb9fa4a0 /apps/systemlib/math/Matrix.cpp | |
parent | 4f3b17f53b120cd54112097f4217a90863013c1f (diff) | |
download | px4-firmware-d9491b20cc5fc8b683eb0f60a50da6b322b55e57.tar.gz px4-firmware-d9491b20cc5fc8b683eb0f60a50da6b322b55e57.tar.bz2 px4-firmware-d9491b20cc5fc8b683eb0f60a50da6b322b55e57.zip |
Reformat of math library with astyle.
Diffstat (limited to 'apps/systemlib/math/Matrix.cpp')
-rw-r--r-- | apps/systemlib/math/Matrix.cpp | 223 |
1 files changed, 118 insertions, 105 deletions
diff --git a/apps/systemlib/math/Matrix.cpp b/apps/systemlib/math/Matrix.cpp index 08796da89..5e536c3a8 100644 --- a/apps/systemlib/math/Matrix.cpp +++ b/apps/systemlib/math/Matrix.cpp @@ -45,136 +45,149 @@ 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); +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; + 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; + 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; + 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; + 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; + 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; + 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) +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; + 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 |