From 57e443c4a472d9f0a84b1c37dd27fc9a5e42abe9 Mon Sep 17 00:00:00 2001 From: Matthias Grob Date: Wed, 23 Feb 2022 15:00:38 +0100 Subject: [PATCH] Matrix: convert multiplication test to gtest --- src/lib/matrix/test/CMakeLists.txt | 2 +- .../matrix/test/MatrixMultiplicationTest.cpp | 100 ++++++++++++++++++ src/lib/matrix/test/matrixMult.cpp | 70 ------------ 3 files changed, 101 insertions(+), 71 deletions(-) create mode 100644 src/lib/matrix/test/MatrixMultiplicationTest.cpp delete mode 100644 src/lib/matrix/test/matrixMult.cpp diff --git a/src/lib/matrix/test/CMakeLists.txt b/src/lib/matrix/test/CMakeLists.txt index 04991b0266..7ddfcf0ae1 100644 --- a/src/lib/matrix/test/CMakeLists.txt +++ b/src/lib/matrix/test/CMakeLists.txt @@ -8,7 +8,6 @@ add_compile_options( set(tests setIdentity slice - matrixMult vectorAssignment matrixScalarMult transpose @@ -43,5 +42,6 @@ px4_add_unit_gtest(SRC MatrixHelperTest.cpp) px4_add_unit_gtest(SRC MatrixIntegralTest.cpp) px4_add_unit_gtest(SRC MatrixInverseTest.cpp) px4_add_unit_gtest(SRC MatrixLeastSquaresTest.cpp) +px4_add_unit_gtest(SRC MatrixMultiplicationTest.cpp) px4_add_unit_gtest(SRC MatrixSparseVectorTest.cpp) px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp) diff --git a/src/lib/matrix/test/MatrixMultiplicationTest.cpp b/src/lib/matrix/test/MatrixMultiplicationTest.cpp new file mode 100644 index 0000000000..5b7844cb8d --- /dev/null +++ b/src/lib/matrix/test/MatrixMultiplicationTest.cpp @@ -0,0 +1,100 @@ +/**************************************************************************** + * + * Copyright (C) 2022 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. + * + ****************************************************************************/ + +#include +#include + +using namespace matrix; + +TEST(MatrixMultiplicationTest, Multiplication) +{ + float data[9] = {1, 0, 0, 0, 1, 0, 1, 0, 1}; + Matrix3f A(data); + + float data_check[9] = {1, 0, 0, 0, 1, 0, -1, 0, 1}; + Matrix3f A_I(data_check); + Matrix3f I; + I.setIdentity(); + Matrix3f R = A * A_I; + EXPECT_EQ(R, I); + + Matrix3f R2 = A; + R2 *= A_I; + EXPECT_EQ(R2, I); + + EXPECT_EQ(R2, I); + EXPECT_NE(A, A_I); + Matrix3f A2 = eye() * 2; + Matrix3f B = A2.emult(A2); + Matrix3f B_check = eye() * 4; + Matrix3f C_check = eye() * 2; + EXPECT_EQ(B, B_check); + Matrix3f C = B_check.edivide(C_check); + + float off_diagonal_nan[9] = {2, NAN, NAN, NAN, 2, NAN, NAN, NAN, 2}; + // off diagonal are NANs because division by 0 + EXPECT_EQ(C, Matrix3f(off_diagonal_nan)); + + // Test non-square matrix + float data_43[12] = {1, 3, 2, + 2, 2, 1, + 5, 2, 1, + 2, 3, 4 + }; + float data_32[6] = {2, 3, + 1, 7, + 5, 4 + }; + + Matrix m43(data_43); + Matrix m32(data_32); + + Matrix m42 = m43 * m32; + + float data_42[8] = {15, 32, + 11, 24, + 17, 33, + 27, 43 + }; + Matrix m42_check(data_42); + EXPECT_EQ(m42, m42_check); + + float data_42_plus2[8] = {17, 34, + 13, 26, + 19, 35, + 29, 45 + }; + Matrix m42_plus2_check(data_42_plus2); + Matrix m42_plus2 = m42 - (-2); + EXPECT_EQ(m42_plus2, m42_plus2_check); +} diff --git a/src/lib/matrix/test/matrixMult.cpp b/src/lib/matrix/test/matrixMult.cpp deleted file mode 100644 index 0e37e3a320..0000000000 --- a/src/lib/matrix/test/matrixMult.cpp +++ /dev/null @@ -1,70 +0,0 @@ -#include "test_macros.hpp" -#include - -using namespace matrix; - -int main() -{ - float data[9] = {1, 0, 0, 0, 1, 0, 1, 0, 1}; - Matrix3f A(data); - - float data_check[9] = {1, 0, 0, 0, 1, 0, -1, 0, 1}; - Matrix3f A_I(data_check); - Matrix3f I; - I.setIdentity(); - Matrix3f R = A * A_I; - TEST(isEqual(R, I)); - - Matrix3f R2 = A; - R2 *= A_I; - TEST(isEqual(R2, I)); - - TEST(R2 == I); - TEST(A != A_I); - Matrix3f A2 = eye() * 2; - Matrix3f B = A2.emult(A2); - Matrix3f B_check = eye() * 4; - Matrix3f C_check = eye() * 2; - TEST(isEqual(B, B_check)); - Matrix3f C = B_check.edivide(C_check); - - float off_diagonal_nan[9] = {2, NAN, NAN, NAN, 2, NAN, NAN, NAN, 2}; - // off diagonal are NANs because division by 0 - TEST(C == Matrix3f(off_diagonal_nan)); - - // Test non-square matrix - float data_43[12] = {1, 3, 2, - 2, 2, 1, - 5, 2, 1, - 2, 3, 4 - }; - float data_32[6] = {2, 3, - 1, 7, - 5, 4 - }; - - Matrix m43(data_43); - Matrix m32(data_32); - - Matrix m42 = m43 * m32; - - float data_42[8] = {15, 32, - 11, 24, - 17, 33, - 27, 43 - }; - Matrix m42_check(data_42); - TEST(isEqual(m42, m42_check)) - - float data_42_plus2[8] = {17, 34, - 13, 26, - 19, 35, - 29, 45 - }; - Matrix m42_plus2_check(data_42_plus2); - Matrix m42_plus2 = m42 - (-2); - TEST(isEqual(m42_plus2, m42_plus2_check)); - - return 0; -} -