65 lines
1.9 KiB
C++
65 lines
1.9 KiB
C++
//==================================================================================================
|
|
/*
|
|
ROTGEN - Runtime Overlay for Eigen
|
|
Copyright : CODE RECKONS
|
|
SPDX-License-Identifier: BSL-1.0
|
|
*/
|
|
//==================================================================================================
|
|
#include <rotgen/rotgen.hpp>
|
|
|
|
#include "unit/tests.hpp"
|
|
|
|
TTS_CASE_TPL("Test dynamic matrix inverse",
|
|
rotgen::tests::types)<typename T, typename O>(
|
|
tts::type<tts::types<T, O>>)
|
|
{
|
|
using mat_t = rotgen::matrix<T, rotgen::Dynamic, rotgen::Dynamic, O::value>;
|
|
auto eps = std::numeric_limits<T>::epsilon();
|
|
|
|
for (int n = 2; n < 15; n *= 1.5)
|
|
{
|
|
auto input = 10 * rotgen::setRandom<mat_t>(n, n);
|
|
auto inv = rotgen::inverse(input);
|
|
|
|
auto rec = input * inv;
|
|
auto id = mat_t::Identity(rotgen::rows(rec), rotgen::cols(rec));
|
|
auto error = rec - id;
|
|
|
|
TTS_LESS_EQUAL(rotgen::maxCoeff(rotgen::abs(error)) / eps, 256.)
|
|
<< "Result:\n"
|
|
<< rec << "\n"
|
|
<< "Residuals:\n"
|
|
<< error << "\n";
|
|
}
|
|
};
|
|
|
|
template<typename T, typename O, int N> void check_static_inverse()
|
|
{
|
|
using mat_t = rotgen::matrix<T, N, N, O::value>;
|
|
auto eps = std::numeric_limits<T>::epsilon();
|
|
|
|
auto input = rotgen::setRandom<mat_t>();
|
|
auto inv = rotgen::inverse(input);
|
|
|
|
auto rec = input * inv;
|
|
auto id = mat_t::Identity(rotgen::rows(rec), rotgen::cols(rec));
|
|
auto error = rec - id;
|
|
|
|
TTS_LESS_EQUAL(rotgen::maxCoeff(rotgen::abs(error)) / eps, 256.)
|
|
<< "Result:\n"
|
|
<< rec << "\n"
|
|
<< "Residuals:\n"
|
|
<< error << "\n";
|
|
}
|
|
|
|
TTS_CASE_TPL("Test static matrix inverse",
|
|
rotgen::tests::types)<typename T, typename O>(
|
|
tts::type<tts::types<T, O>>)
|
|
{
|
|
check_static_inverse<T, O, 2>();
|
|
check_static_inverse<T, O, 3>();
|
|
check_static_inverse<T, O, 4>();
|
|
check_static_inverse<T, O, 6>();
|
|
check_static_inverse<T, O, 9>();
|
|
check_static_inverse<T, O, 13>();
|
|
};
|