px4_autopilot/test/least_squares.cpp

#include "test_macros.hpp"
#include <matrix/math.hpp>

using namespace matrix;

int test_4x3(void);
int test_4x4(void);

int main()
{
    int ret;

    ret = test_4x4();
    if (ret != 0) return ret;

    ret = test_4x3();
    if (ret != 0) return ret;

    return 0;
}

int test_4x3() {
    // Start with an (m x n) A matrix
    float data[12] = {20.f, -10.f, -13.f,
                      17.f,  16.f, -18.f,
                      0.7f,  -0.8f,   0.9f,
                      -1.f,  -1.1f,  -1.2f
                     };
    Matrix<float, 4, 3> A(data);

    float b_data[4] = {2.0, 3.0, 4.0, 5.0};
    Vector<float, 4> b(b_data);

    float x_check_data[3] = {-0.69168233f,
                             -0.26227593f,
                             -1.03767522f
                            };
    Vector<float, 3> x_check(x_check_data);

    LeastSquaresSolver<float, 4, 3> qrd = LeastSquaresSolver<float, 4, 3>(A);

    Vector<float, 3> x = qrd.solve(b);
    TEST(isEqual(x, x_check));
    return 0;
}

int test_4x4() {
    // Start with an (m x n) A matrix
    float data[16] = { 20.f, -10.f, -13.f,  21.f,
                       17.f,  16.f, -18.f, -14.f,
                       0.7f,  -0.8f,   0.9f,  -0.5f,
                       -1.f,  -1.1f,  -1.2f,  -1.3f
                     };
    Matrix<float, 4, 4> A(data);

    float b_data[4] = {2.0, 3.0, 4.0, 5.0};
    Vector<float, 4> b(b_data);

    float x_check_data[4] = { 0.97893433f,
                              -2.80798701f,
                              -0.03175765f,
                              -2.19387649f
                            };
    Vector<float, 4> x_check(x_check_data);

    LeastSquaresSolver<float, 4, 4> qrd = LeastSquaresSolver<float, 4, 4>(A);

    Vector<float, 4> x = qrd.solve(b);
    TEST(isEqual(x, x_check));
    return 0;
}

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