Matrix: convert multiplication test to gtest

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)

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 <gtest/gtest.h>
+#include <matrix/math.hpp>
+
+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<float, 3>() * 2;
+	Matrix3f B = A2.emult(A2);
+	Matrix3f B_check = eye<float, 3>() * 4;
+	Matrix3f C_check = eye<float, 3>() * 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<float, 4, 3> m43(data_43);
+	Matrix<float, 3, 2> m32(data_32);
+
+	Matrix<float, 4, 2> m42 = m43 * m32;
+
+	float data_42[8] = {15, 32,
+			    11, 24,
+			    17, 33,
+			    27, 43
+			   };
+	Matrix<float, 4, 2> m42_check(data_42);
+	EXPECT_EQ(m42, m42_check);
+
+	float data_42_plus2[8] = {17, 34,
+				  13, 26,
+				  19, 35,
+				  29, 45
+				 };
+	Matrix<float, 4, 2> m42_plus2_check(data_42_plus2);
+	Matrix<float, 4, 2> m42_plus2 = m42 - (-2);
+	EXPECT_EQ(m42_plus2, m42_plus2_check);
+}

src/lib/matrix/test/matrixMult.cpp

@@ -1,70 +0,0 @@
-#include "test_macros.hpp"
-#include <matrix/math.hpp>
-
-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<float, 3>() * 2;
-	Matrix3f B = A2.emult(A2);
-	Matrix3f B_check = eye<float, 3>() * 4;
-	Matrix3f C_check = eye<float, 3>() * 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<float, 4, 3> m43(data_43);
-	Matrix<float, 3, 2> m32(data_32);
-
-	Matrix<float, 4, 2> m42 = m43 * m32;
-
-	float data_42[8] = {15, 32,
-			    11, 24,
-			    17, 33,
-			    27, 43
-			   };
-	Matrix<float, 4, 2> m42_check(data_42);
-	TEST(isEqual(m42, m42_check))
-
-	float data_42_plus2[8] = {17, 34,
-				  13, 26,
-				  19, 35,
-				  29, 45
-				 };
-	Matrix<float, 4, 2> m42_plus2_check(data_42_plus2);
-	Matrix<float, 4, 2> m42_plus2 = m42 - (-2);
-	TEST(isEqual(m42_plus2, m42_plus2_check));
-
-	return 0;
-}
-