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 test_4x4_type_double(void);
int test_div_zero(void);

int main()
{
    int ret;

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

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

    ret = test_4x4_type_double();

    ret = test_div_zero();
    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;
}

int test_4x4_type_double() {
    // Start with an (m x n) A matrix
    double data[16] = { 20., -10., -13.,  21.,
                        17.,  16., -18., -14.,
                        0.7,  -0.8,   0.9,  -0.5,
                        -1.,  -1.1,  -1.2,  -1.3
                      };
    Matrix<double, 4, 4> A(data);

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

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

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

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

int test_div_zero() {
    float data[4] = {0.0f, 0.0f, 0.0f, 0.0f};
    Matrix<float, 2, 2> A(data);

    float b_data[2] = {1.0, 1.0};
    Vector<float, 2> b(b_data);

    // Implement such that x returns zeros if it reaches div by zero
    float x_check_data[2] = {0.0f, 0.0f};
    Vector<float, 2> x_check(x_check_data);

    LeastSquaresSolver<float, 2, 2> qrd = LeastSquaresSolver<float, 2, 2>(A);

    Vector<float, 2> x = qrd.solve(b);
    TEST(isEqual(x, x_check));
    return 0;
}

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