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-rw-r--r--src/lib/mathlib/math/Matrix.hpp27
-rw-r--r--src/lib/mathlib/math/Quaternion.hpp48
-rw-r--r--src/lib/mathlib/math/Vector.hpp195
-rw-r--r--src/modules/att_pos_estimator_ekf/KalmanNav.cpp8
-rw-r--r--src/modules/mavlink/mavlink_receiver.cpp3
-rw-r--r--src/modules/sensors/sensors.cpp6
-rw-r--r--src/systemcmds/tests/test_mathlib.cpp114
7 files changed, 209 insertions, 192 deletions
diff --git a/src/lib/mathlib/math/Matrix.hpp b/src/lib/mathlib/math/Matrix.hpp
index 7ed8879a7..9896a16d0 100644
--- a/src/lib/mathlib/math/Matrix.hpp
+++ b/src/lib/mathlib/math/Matrix.hpp
@@ -94,11 +94,11 @@ public:
return data[row][col];
}
- unsigned int getRows() {
+ unsigned int get_rows() {
return M;
}
- unsigned int getCols() {
+ unsigned int get_cols() {
return N;
}
@@ -295,11 +295,7 @@ public:
return res;
}
};
-}
-
-#include "Quaternion.hpp"
-namespace math {
template <>
class __EXPORT Matrix<3, 3> : public MatrixBase<3, 3> {
public:
@@ -330,25 +326,6 @@ public:
}
/**
- * create a rotation matrix from given quaternion
- */
- void from_quaternion(const Quaternion &q) {
- float aSq = q.data[0] * q.data[0];
- float bSq = q.data[1] * q.data[1];
- float cSq = q.data[2] * q.data[2];
- float dSq = q.data[3] * q.data[3];
- data[0][0] = aSq + bSq - cSq - dSq;
- data[0][1] = 2.0f * (q.data[1] * q.data[2] - q.data[0] * q.data[3]);
- data[0][2] = 2.0f * (q.data[0] * q.data[2] + q.data[1] * q.data[3]);
- data[1][0] = 2.0f * (q.data[1] * q.data[2] + q.data[0] * q.data[3]);
- data[1][1] = aSq - bSq + cSq - dSq;
- data[1][2] = 2.0f * (q.data[2] * q.data[3] - q.data[0] * q.data[1]);
- data[2][0] = 2.0f * (q.data[1] * q.data[3] - q.data[0] * q.data[2]);
- data[2][1] = 2.0f * (q.data[0] * q.data[1] + q.data[2] * q.data[3]);
- data[2][2] = aSq - bSq - cSq + dSq;
- }
-
- /**
* create a rotation matrix from given euler angles
* based on http://gentlenav.googlecode.com/files/EulerAngles.pdf
*/
diff --git a/src/lib/mathlib/math/Quaternion.hpp b/src/lib/mathlib/math/Quaternion.hpp
index 3735fb3d3..c19dbd29c 100644
--- a/src/lib/mathlib/math/Quaternion.hpp
+++ b/src/lib/mathlib/math/Quaternion.hpp
@@ -58,7 +58,7 @@ public:
/**
* trivial ctor
*/
- Quaternion() {
+ Quaternion() : Vector() {
}
/**
@@ -70,10 +70,29 @@ public:
Quaternion(const Vector<4> &v) : Vector(v) {
}
- Quaternion(const float *v) : Vector(v) {
+ Quaternion(const Quaternion &q) : Vector(q) {
}
- Quaternion derivative(const Vector<3> &w) {
+ Quaternion(const float v[4]) : Vector(v) {
+ }
+
+ using Vector<4>::operator *;
+
+ /**
+ * multiplication
+ */
+ const Quaternion operator *(const Quaternion &q) const {
+ return Quaternion(
+ data[0] * q.data[0] - data[1] * q.data[1] - data[2] * q.data[2] - data[3] * q.data[3],
+ data[0] * q.data[1] + data[1] * q.data[0] + data[2] * q.data[3] - data[3] * q.data[2],
+ data[0] * q.data[2] - data[1] * q.data[3] + data[2] * q.data[0] + data[3] * q.data[1],
+ data[0] * q.data[3] + data[1] * q.data[2] - data[2] * q.data[1] + data[3] * q.data[0]);
+ }
+
+ /**
+ * derivative
+ */
+ const Quaternion derivative(const Vector<3> &w) {
float dataQ[] = {
data[0], -data[1], -data[2], -data[3],
data[1], data[0], -data[3], data[2],
@@ -85,6 +104,9 @@ public:
return Q * v * 0.5f;
}
+ /**
+ * set quaternion to rotation defined by euler angles
+ */
void from_euler(float roll, float pitch, float yaw) {
double cosPhi_2 = cos(double(roll) / 2.0);
double sinPhi_2 = sin(double(roll) / 2.0);
@@ -97,6 +119,26 @@ public:
data[2] = cosPhi_2 * sinTheta_2 * cosPsi_2 + sinPhi_2 * cosTheta_2 * sinPsi_2;
data[3] = cosPhi_2 * cosTheta_2 * sinPsi_2 - sinPhi_2 * sinTheta_2 * cosPsi_2;
}
+
+ /**
+ * create rotation matrix for the quaternion
+ */
+ Matrix<3, 3> to_dcm(void) const {
+ Matrix<3, 3> R;
+ float aSq = data[0] * data[0];
+ float bSq = data[1] * data[1];
+ float cSq = data[2] * data[2];
+ float dSq = data[3] * data[3];
+ R.data[0][0] = aSq + bSq - cSq - dSq;
+ R.data[0][1] = 2.0f * (data[1] * data[2] - data[0] * data[3]);
+ R.data[0][2] = 2.0f * (data[0] * data[2] + data[1] * data[3]);
+ R.data[1][0] = 2.0f * (data[1] * data[2] + data[0] * data[3]);
+ R.data[1][1] = aSq - bSq + cSq - dSq;
+ R.data[1][2] = 2.0f * (data[2] * data[3] - data[0] * data[1]);
+ R.data[2][0] = 2.0f * (data[1] * data[3] - data[0] * data[2]);
+ R.data[2][1] = 2.0f * (data[0] * data[1] + data[2] * data[3]);
+ R.data[2][2] = aSq - bSq - cSq + dSq;
+ }
};
}
diff --git a/src/lib/mathlib/math/Vector.hpp b/src/lib/mathlib/math/Vector.hpp
index 744402e21..d579ecf73 100644
--- a/src/lib/mathlib/math/Vector.hpp
+++ b/src/lib/mathlib/math/Vector.hpp
@@ -1,8 +1,9 @@
/****************************************************************************
*
* Copyright (C) 2013 PX4 Development Team. All rights reserved.
- * Author: Will Perone <will.perone@gmail.com>
- * Anton Babushkin <anton.babushkin@me.com>
+ * Author: Anton Babushkin <anton.babushkin@me.com>
+ * Pavel Kirienko <pavel.kirienko@gmail.com>
+ * Lorenz Meier <lm@inf.ethz.ch>
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -36,13 +37,12 @@
/**
* @file Vector.hpp
*
- * Generic Vector
+ * Vector class
*/
#ifndef VECTOR_HPP
#define VECTOR_HPP
-#include <visibility.h>
#include <stdio.h>
#include <math.h>
#include "../CMSIS/Include/arm_math.h"
@@ -84,7 +84,7 @@ public:
/**
* setting ctor
*/
- VectorBase(const float *d) {
+ VectorBase(const float d[N]) {
arm_col = {N, 1, &data[0]};
memcpy(data, d, sizeof(data));
}
@@ -92,31 +92,30 @@ public:
/**
* access to elements by index
*/
- inline float &operator ()(unsigned int i) {
+ float &operator ()(const unsigned int i) {
return data[i];
}
/**
* access to elements by index
*/
- inline const float &operator ()(unsigned int i) const {
+ float operator ()(const unsigned int i) const {
return data[i];
}
- unsigned int getRows() {
+ /**
+ * get rows number
+ */
+ unsigned int get_size() const {
return N;
}
- unsigned int getCols() {
- return 1;
- }
-
/**
* test for equality
*/
bool operator ==(const Vector<N> &v) {
for (unsigned int i = 0; i < N; i++)
- if (data[i] != v(i))
+ if (data[i] != v.data[i])
return false;
return true;
}
@@ -126,7 +125,7 @@ public:
*/
bool operator !=(const Vector<N> &v) {
for (unsigned int i = 0; i < N; i++)
- if (data[i] != v(i))
+ if (data[i] != v.data[i])
return true;
return false;
}
@@ -155,7 +154,7 @@ public:
const Vector<N> operator +(const Vector<N> &v) const {
Vector<N> res;
for (unsigned int i = 0; i < N; i++)
- res.data[i] = data[i] + v(i);
+ res.data[i] = data[i] + v.data[i];
return res;
}
@@ -165,7 +164,7 @@ public:
const Vector<N> operator -(const Vector<N> &v) const {
Vector<N> res;
for (unsigned int i = 0; i < N; i++)
- res.data[i] = data[i] - v(i);
+ res.data[i] = data[i] - v.data[i];
return res;
}
@@ -173,16 +172,20 @@ public:
* uniform scaling
*/
const Vector<N> operator *(const float num) const {
- Vector<N> temp(*this);
- return temp *= num;
+ Vector<N> res;
+ for (unsigned int i = 0; i < N; i++)
+ res.data[i] = data[i] * num;
+ return res;
}
/**
* uniform scaling
*/
const Vector<N> operator /(const float num) const {
- Vector<N> temp(*static_cast<const Vector<N>*>(this));
- return temp /= num;
+ Vector<N> res;
+ for (unsigned int i = 0; i < N; i++)
+ res.data[i] = data[i] / num;
+ return res;
}
/**
@@ -190,7 +193,7 @@ public:
*/
const Vector<N> &operator +=(const Vector<N> &v) {
for (unsigned int i = 0; i < N; i++)
- data[i] += v(i);
+ data[i] += v.data[i];
return *static_cast<const Vector<N>*>(this);
}
@@ -199,7 +202,7 @@ public:
*/
const Vector<N> &operator -=(const Vector<N> &v) {
for (unsigned int i = 0; i < N; i++)
- data[i] -= v(i);
+ data[i] -= v.data[i];
return *static_cast<const Vector<N>*>(this);
}
@@ -227,7 +230,7 @@ public:
float operator *(const Vector<N> &v) const {
float res = 0.0f;
for (unsigned int i = 0; i < N; i++)
- res += data[i] * v(i);
+ res += data[i] * v.data[i];
return res;
}
@@ -235,14 +238,20 @@ public:
* gets the length of this vector squared
*/
float length_squared() const {
- return (*this * *this);
+ float res = 0.0f;
+ for (unsigned int i = 0; i < N; i++)
+ res += data[i] * data[i];
+ return res;
}
/**
* gets the length of this vector
*/
float length() const {
- return sqrtf(*this * *static_cast<const Vector<N>*>(this));
+ float res = 0.0f;
+ for (unsigned int i = 0; i < N; i++)
+ res += data[i] * data[i];
+ return sqrtf(res);
}
/**
@@ -277,25 +286,17 @@ public:
template <unsigned int N>
class __EXPORT Vector : public VectorBase<N> {
public:
- using VectorBase<N>::operator *;
+ //using VectorBase<N>::operator *;
+ Vector() : VectorBase<N>() {}
- Vector() : VectorBase<N>() {
- }
+ Vector(const Vector &v) : VectorBase<N>(v) {}
- Vector(const float d[]) : VectorBase<N>(d) {
- }
-
- Vector(const Vector<N> &v) : VectorBase<N>(v) {
- }
-
- Vector(const VectorBase<N> &v) : VectorBase<N>(v) {
- }
+ Vector(const float d[N]) : VectorBase<N>(d) {}
/**
* set to value
*/
const Vector<N> &operator =(const Vector<N> &v) {
- this->arm_col = {N, 1, &this->data[0]};
memcpy(this->data, v.data, sizeof(this->data));
return *this;
}
@@ -304,22 +305,22 @@ public:
template <>
class __EXPORT Vector<2> : public VectorBase<2> {
public:
- Vector() : VectorBase<2>() {
- }
+ Vector() : VectorBase<2>() {}
- Vector(const float x, const float y) : VectorBase() {
- data[0] = x;
- data[1] = y;
- }
-
- Vector(const Vector<2> &v) : VectorBase() {
+ /* simple copy is 1.6 times faster than memcpy */
+ Vector(const Vector &v) : VectorBase<2>() {
data[0] = v.data[0];
data[1] = v.data[1];
}
- Vector(const VectorBase<2> &v) : VectorBase() {
- data[0] = v.data[0];
- data[1] = v.data[1];
+ Vector(const float d[2]) : VectorBase<2>() {
+ data[0] = d[0];
+ data[1] = d[1];
+ }
+
+ Vector(const float x, const float y) : VectorBase<2>() {
+ data[0] = x;
+ data[1] = y;
}
/**
@@ -331,55 +332,49 @@ public:
return *this;
}
- float cross(const Vector<2> &b) const {
- return data[0]*b.data[1] - data[1]*b.data[0];
- }
-
float operator %(const Vector<2> &v) const {
- return cross(v);
+ return data[0] * v.data[1] - data[1] * v.data[0];
}
-
};
template <>
class __EXPORT Vector<3> : public VectorBase<3> {
public:
- Vector() {
- arm_col = {3, 1, &this->data[0]};
- }
+ Vector() : VectorBase<3>() {}
- Vector(const float x, const float y, const float z) {
- arm_col = {3, 1, &this->data[0]};
- data[0] = x;
- data[1] = y;
- data[2] = z;
+ /* simple copy is 1.6 times faster than memcpy */
+ Vector(const Vector &v) : VectorBase<3>() {
+ for (unsigned int i = 0; i < 3; i++)
+ data[i] = v.data[i];
}
- Vector(const Vector<3> &v) : VectorBase<3>() {
- data[0] = v.data[0];
- data[1] = v.data[1];
- data[2] = v.data[2];
+ Vector(const float d[3]) : VectorBase<3>() {
+ for (unsigned int i = 0; i < 3; i++)
+ data[i] = d[i];
}
- /**
- * setting ctor
- */
- Vector(const float d[]) {
- arm_col = {3, 1, &this->data[0]};
- data[0] = d[0];
- data[1] = d[1];
- data[2] = d[2];
+ Vector(const float x, const float y, const float z) : VectorBase<3>() {
+ data[0] = x;
+ data[1] = y;
+ data[2] = z;
}
/**
* set to value
*/
const Vector<3> &operator =(const Vector<3> &v) {
- data[0] = v.data[0];
- data[1] = v.data[1];
- data[2] = v.data[2];
+ for (unsigned int i = 0; i < 3; i++)
+ data[i] = v.data[i];
return *this;
}
+
+ Vector<3> operator %(const Vector<3> &v) const {
+ return Vector<3>(
+ data[1] * v.data[2] - data[2] * v.data[1],
+ data[2] * v.data[0] - data[0] * v.data[2],
+ data[0] * v.data[1] - data[1] * v.data[0]
+ );
+ }
};
template <>
@@ -387,49 +382,31 @@ class __EXPORT Vector<4> : public VectorBase<4> {
public:
Vector() : VectorBase() {}
- Vector(const float x, const float y, const float z, const float t) : VectorBase() {
- data[0] = x;
- data[1] = y;
- data[2] = z;
- data[3] = t;
+ Vector(const Vector &v) : VectorBase<4>() {
+ for (unsigned int i = 0; i < 4; i++)
+ data[i] = v.data[i];
}
- Vector(const Vector<4> &v) : VectorBase() {
- data[0] = v.data[0];
- data[1] = v.data[1];
- data[2] = v.data[2];
- data[3] = v.data[3];
+ Vector(const float d[4]) : VectorBase<4>() {
+ for (unsigned int i = 0; i < 4; i++)
+ data[i] = d[i];
}
- Vector(const VectorBase<4> &v) : VectorBase() {
- data[0] = v.data[0];
- data[1] = v.data[1];
- data[2] = v.data[2];
- data[3] = v.data[3];
+ Vector(const float x0, const float x1, const float x2, const float x3) : VectorBase() {
+ data[0] = x0;
+ data[1] = x1;
+ data[2] = x2;
+ data[3] = x3;
}
/**
- * setting ctor
- */
- /*
- Vector(const float d[]) {
- arm_col = {3, 1, &this->data[0]};
- data[0] = d[0];
- data[1] = d[1];
- data[2] = d[2];
- }
-*/
- /**
* set to value
*/
- /*
- const Vector<3> &operator =(const Vector<3> &v) {
- data[0] = v.data[0];
- data[1] = v.data[1];
- data[2] = v.data[2];
+ const Vector<4> &operator =(const Vector<4> &v) {
+ for (unsigned int i = 0; i < 4; i++)
+ data[i] = v.data[i];
return *this;
}
- */
};
}
diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
index 9d3ef07f2..aca3fe7b6 100644
--- a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
+++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp
@@ -132,7 +132,7 @@ KalmanNav::KalmanNav(SuperBlock *parent, const char *name) :
_sensors.magnetometer_ga[2]);
// initialize dcm
- C_nb.from_quaternion(q);
+ C_nb = q.to_dcm();
// HPos is constant
HPos(0, 3) = 1.0f;
@@ -409,7 +409,7 @@ int KalmanNav::predictState(float dt)
}
// C_nb update
- C_nb.from_quaternion(q);
+ C_nb = q.to_dcm();
// euler update
Vector<3> euler = C_nb.to_euler();
@@ -628,7 +628,7 @@ int KalmanNav::correctAtt()
Vector<9> xCorrect = K * y;
// check correciton is sane
- for (size_t i = 0; i < xCorrect.getRows(); i++) {
+ for (size_t i = 0; i < xCorrect.get_size(); i++) {
float val = xCorrect(i);
if (isnan(val) || isinf(val)) {
@@ -694,7 +694,7 @@ int KalmanNav::correctPos()
Vector<9> xCorrect = K * y;
// check correction is sane
- for (size_t i = 0; i < xCorrect.getRows(); i++) {
+ for (size_t i = 0; i < xCorrect.get_size(); i++) {
float val = xCorrect(i);
if (!isfinite(val)) {
diff --git a/src/modules/mavlink/mavlink_receiver.cpp b/src/modules/mavlink/mavlink_receiver.cpp
index 653d4b6b3..b4f7f2dfe 100644
--- a/src/modules/mavlink/mavlink_receiver.cpp
+++ b/src/modules/mavlink/mavlink_receiver.cpp
@@ -683,8 +683,7 @@ handle_message(mavlink_message_t *msg)
/* Calculate Rotation Matrix */
math::Quaternion q(hil_state.attitude_quaternion);
- math::Matrix<3,3> C_nb;
- C_nb.from_quaternion(q);
+ math::Matrix<3,3> C_nb = q.to_dcm();
math::Vector<3> euler = C_nb.to_euler();
/* set rotation matrix */
diff --git a/src/modules/sensors/sensors.cpp b/src/modules/sensors/sensors.cpp
index eea9438f7..9e2eeafa4 100644
--- a/src/modules/sensors/sensors.cpp
+++ b/src/modules/sensors/sensors.cpp
@@ -465,8 +465,6 @@ Sensors::Sensors() :
/* performance counters */
_loop_perf(perf_alloc(PC_ELAPSED, "sensor task update")),
- _board_rotation(),
- _external_mag_rotation(),
_mag_is_external(false)
{
@@ -920,7 +918,7 @@ Sensors::accel_poll(struct sensor_combined_s &raw)
orb_copy(ORB_ID(sensor_accel), _accel_sub, &accel_report);
- math::Vector<3> vect = {accel_report.x, accel_report.y, accel_report.z};
+ math::Vector<3> vect(accel_report.x, accel_report.y, accel_report.z);
vect = _board_rotation * vect;
raw.accelerometer_m_s2[0] = vect(0);
@@ -946,7 +944,7 @@ Sensors::gyro_poll(struct sensor_combined_s &raw)
orb_copy(ORB_ID(sensor_gyro), _gyro_sub, &gyro_report);
- math::Vector<3> vect = {gyro_report.x, gyro_report.y, gyro_report.z};
+ math::Vector<3> vect(gyro_report.x, gyro_report.y, gyro_report.z);
vect = _board_rotation * vect;
raw.gyro_rad_s[0] = vect(0);
diff --git a/src/systemcmds/tests/test_mathlib.cpp b/src/systemcmds/tests/test_mathlib.cpp
index d2e1a93e3..e654e0f81 100644
--- a/src/systemcmds/tests/test_mathlib.cpp
+++ b/src/systemcmds/tests/test_mathlib.cpp
@@ -48,6 +48,8 @@
#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;
const char* formatResult(bool res) {
@@ -58,60 +60,82 @@ int test_mathlib(int argc, char *argv[])
{
warnx("testing mathlib");
- Matrix<3,3> m3;
- m3.identity();
- Matrix<4,4> m4;
- m4.identity();
- Vector<3> v3;
- v3(0) = 1.0f;
- v3(1) = 2.0f;
- v3(2) = 3.0f;
- Vector<4> v4;
- v4(0) = 1.0f;
- v4(1) = 2.0f;
- v4(2) = 3.0f;
- v4(3) = 4.0f;
- Vector<3> vres3;
- Matrix<3,3> mres3;
- Matrix<4,4> mres4;
-
- unsigned int n = 60000;
+ Vector<2> v2(1.0f, 2.0f);
+ Vector<3> v3(1.0f, 2.0f, 3.0f);
+ Vector<4> v4(1.0f, 2.0f, 3.0f, 4.0f);
+ Vector<10> v10;
+ v10.zero();
- hrt_abstime t0, t1;
+ float data2[2] = {1.0f, 2.0f};
+ float data3[3] = {1.0f, 2.0f, 3.0f};
+ float data4[4] = {1.0f, 2.0f, 3.0f, 4.0f};
+ float data10[10];
- t0 = hrt_absolute_time();
- for (unsigned int j = 0; j < n; j++) {
- vres3 = m3 * v3;
+ {
+ Vector<2> v;
+ Vector<2> v1(1.0f, 2.0f);
+ Vector<2> v2(1.0f, -1.0f);
+ TEST_OP("Constructor Vector<2>()", Vector<2> v);
+ TEST_OP("Constructor Vector<2>(Vector<2>)", Vector<2> v(v2));
+ TEST_OP("Constructor Vector<2>(float[])", Vector<2> v(data2));
+ TEST_OP("Constructor Vector<2>(float, float)", Vector<2> v(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);
}
- t1 = hrt_absolute_time();
- warnx("Matrix3 * Vector3: %s %.6fus", formatResult(vres3 == v3), (double)(t1 - t0) / n);
- t0 = hrt_absolute_time();
- for (unsigned int j = 0; j < n; j++) {
- mres3 = m3 * m3;
+ {
+ Vector<3> v;
+ Vector<3> v1(1.0f, 2.0f, 0.0f);
+ Vector<3> v2(1.0f, -1.0f, 2.0f);
+ TEST_OP("Constructor Vector<3>()", Vector<3> v);
+ TEST_OP("Constructor Vector<3>(Vector<3>)", Vector<3> v(v3));
+ TEST_OP("Constructor Vector<3>(float[])", Vector<3> v(data3));
+ TEST_OP("Constructor Vector<3>(float, float, float)", Vector<3> v(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());
+ TEST_OP("Vector<3> element read", volatile float a = v1(0));
+ TEST_OP("Vector<3> element read direct", volatile float a = v1.data[0]);
+ TEST_OP("Vector<3> element write", v1(0) = 1.0f);
+ TEST_OP("Vector<3> element write direct", v1.data[0] = 1.0f);
}
- t1 = hrt_absolute_time();
- warnx("Matrix3 * Matrix3: %s %.6fus", formatResult(mres3 == m3), (double)(t1 - t0) / n);
- t0 = hrt_absolute_time();
- for (unsigned int j = 0; j < n; j++) {
- mres4 = m4 * m4;
+ {
+ 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);
+ TEST_OP("Constructor Vector<4>()", Vector<4> v);
+ TEST_OP("Constructor Vector<4>(Vector<4>)", Vector<4> v(v4));
+ TEST_OP("Constructor Vector<4>(float[])", Vector<4> v(data4));
+ TEST_OP("Constructor Vector<4>(float, float, float, float)", Vector<4> v(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);
}
- t1 = hrt_absolute_time();
- warnx("Matrix4 * Matrix4: %s %.6fus", formatResult(mres4 == m4), (double)(t1 - t0) / n);
- t0 = hrt_absolute_time();
- for (unsigned int j = 0; j < n; j++) {
- mres3 = m3.transposed();
+ {
+ TEST_OP("Constructor Vector<10>()", Vector<10> v);
+ TEST_OP("Constructor Vector<10>(Vector<10>)", Vector<10> v(v10));
+ TEST_OP("Constructor Vector<10>(float[])", Vector<10> v(data10));
}
- t1 = hrt_absolute_time();
- warnx("Matrix3 Transpose: %s %.6fus", formatResult(mres3 == m3), (double)(t1 - t0) / n);
- t0 = hrt_absolute_time();
- for (unsigned int j = 0; j < n; j++) {
- mres3 = m3.inversed();
- }
- t1 = hrt_absolute_time();
- warnx("Matrix3 Invert: %s %.6fus", formatResult(mres3 == m3), (double)(t1 - t0) / n);
return 0;
}
generated by cgit v1.2.3 (git 2.39.1) at 2024-07-10 17:34:58 +0000