px4_autopilot/test/matrixAssignment.cpp

#include <assert.h>

#include <matrix/math.hpp>

using namespace matrix;

template class Matrix<float, 3, 3>;

int main()
{
    Matrix3f m;
    m.setZero();
    m(0, 0) = 1;
    m(0, 1) = 2;
    m(0, 2) = 3;
    m(1, 0) = 4;
    m(1, 1) = 5;
    m(1, 2) = 6;
    m(2, 0) = 7;
    m(2, 1) = 8;
    m(2, 2) = 9;

    m.print();

    float data[9] = {1, 2, 3, 4, 5, 6, 7, 8, 9};
    Matrix3f m2(data);
    m2.print();

    for(int i=0; i<9; i++) {
        assert(fabs(data[i] - m2.data()[i]) < 1e-6f);
    }

    float data_times_2[9] = {2, 4, 6, 8, 10, 12, 14, 16, 18};
    Matrix3f m3(data_times_2);

    assert(m == m2);
    assert(!(m == m3));

    m2 *= 2;
    assert(m2 == m3);

    m2 /= 2;
    m2 -= 1;
    float data_minus_1[9] = {0, 1, 2, 3, 4, 5, 6, 7, 8};
    assert(Matrix3f(data_minus_1) == m2);

    m2 += 1;
    assert(Matrix3f(data) == m2);

    m3 -= m2;

    assert(m3 == m2);

    float data_row_02_swap[9] = {
        7, 8, 9,
        4, 5, 6,
        1, 2, 3,
    };

    float data_col_02_swap[9] = {
        3, 2, 1,
        6, 5, 4,
        9, 8, 7
    };

    Matrix3f m4(data);

    assert(-m4 == m4*(-1));

    m4.swapCols(0, 2);
    assert(m4 == Matrix3f(data_col_02_swap));
    m4.swapCols(0, 2);
    m4.swapRows(0, 2);
    assert(m4 == Matrix3f(data_row_02_swap));
    assert(fabs(m4.min() - 1) < 1e-5);

    Scalar<float> s;
    s = 1;
    assert(fabs(s - 1) < 1e-5);

    return 0;
}

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