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Diffstat (limited to 'apps/systemlib/math/Matrix.cpp')
-rw-r--r-- | apps/systemlib/math/Matrix.cpp | 180 |
1 files changed, 180 insertions, 0 deletions
diff --git a/apps/systemlib/math/Matrix.cpp b/apps/systemlib/math/Matrix.cpp new file mode 100644 index 000000000..08796da89 --- /dev/null +++ b/apps/systemlib/math/Matrix.cpp @@ -0,0 +1,180 @@ +/**************************************************************************** + * + * Copyright (C) 2012 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @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 |