Matrix: convert least squares test to gtest

src/lib/matrix/test/CMakeLists.txt

@@ -16,7 +16,6 @@ set(tests
     vector2
     vector3
     squareMatrix
-    least_squares
     upperRightTriangle
     pseudoInverse
 )
@@ -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)

src/lib/matrix/test/MatrixLeastSquaresTest.cpp

@@ -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);
+}

src/lib/matrix/test/least_squares.cpp

@@ -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;
-}
-