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Matrix: convert least squares test to gtest

v1.13.0-BW
Matthias Grob 3 years ago
parent
fddcf342e9
commit
719898f1e3
3 changed files with 112 additions and 107 deletions
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  1. 2
      src/lib/matrix/test/CMakeLists.txt
  2. 111
      src/lib/matrix/test/MatrixLeastSquaresTest.cpp
  3. 106
      src/lib/matrix/test/least_squares.cpp

2
src/lib/matrix/test/CMakeLists.txt
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@ -16,7 +16,6 @@ set(tests @@ -16,7 +16,6 @@ set(tests
vector2
vector3
squareMatrix
least_squares
upperRightTriangle
pseudoInverse
)
@ -43,5 +42,6 @@ px4_add_unit_gtest(SRC MatrixHatveeTest.cpp) @@ -43,5 +42,6 @@ px4_add_unit_gtest(SRC MatrixHatveeTest.cpp)
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 MatrixSparseVectorTest.cpp)
px4_add_unit_gtest(SRC MatrixUnwrapTest.cpp)

111
src/lib/matrix/test/MatrixLeastSquaresTest.cpp
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@ -0,0 +1,111 @@ @@ -0,0 +1,111 @@
/****************************************************************************
*
* 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;
int test_4x3(void);
template<typename Type> int test_4x4(void);
int test_4x4_type_double(void);
int test_div_zero(void);
TEST(MatrixLeastSquaresTest, 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] = {2.0f, 3.0f, 4.0f, 5.0f};
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);
EXPECT_EQ(x, x_check);
}
TEST(MatrixLeastSquaresTest, 4x4)
{
// Start with an (m x n) A matrix
const 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] = {2.0f, 3.0f, 4.0f, 5.0f};
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);
EXPECT_EQ(x, x_check);
}
TEST(MatrixLeastSquaresTest, ZeroDivision)
{
float data[4] = {0.0f, 0.0f, 0.0f, 0.0f};
Matrix<float, 2, 2> A(data);
float b_data[2] = {1.0f, 1.0f};
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);
EXPECT_EQ(x, x_check);
}

106
src/lib/matrix/test/least_squares.cpp
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@ -1,106 +0,0 @@ @@ -1,106 +0,0 @@
#include "test_macros.hpp"
#include <matrix/math.hpp>
using namespace matrix;
int test_4x3(void);
template<typename Type> int test_4x4(void);
int test_4x4_type_double(void);
int test_div_zero(void);
int main()
{
int ret;
ret = test_4x4<float>();
if (ret != 0) { return ret; }
ret = test_4x4<double>();
if (ret != 0) { return ret; }
ret = test_4x3();
if (ret != 0) { return ret; }
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] = {2.0f, 3.0f, 4.0f, 5.0f};
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;
}
template<typename Type>
int test_4x4()
{
// Start with an (m x n) A matrix
const Type 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<Type, 4, 4> A(data);
Type b_data[4] = {2.0f, 3.0f, 4.0f, 5.0f};
Vector<Type, 4> b(b_data);
Type x_check_data[4] = { 0.97893433f,
-2.80798701f,
-0.03175765f,
-2.19387649f
};
Vector<Type, 4> x_check(x_check_data);
LeastSquaresSolver<Type, 4, 4> qrd = LeastSquaresSolver<Type, 4, 4>(A);
Vector<Type, 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] = {1.0f, 1.0f};
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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