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e767605e94
This makes complex code significantly easier to read. frc::Vectord<Size> = Eigen::Vector<double, Size> frc::Matrixd<Rows, Cols> = Eigen::Matrix<double, Rows, Cols>
49 lines
1.3 KiB
C++
49 lines
1.3 KiB
C++
// Copyright (c) FIRST and other WPILib contributors.
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// Open Source Software; you can modify and/or share it under the terms of
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// the WPILib BSD license file in the root directory of this project.
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#include "Eigen/LU"
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#include "frc/EigenCore.h"
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#include "gtest/gtest.h"
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TEST(EigenTest, Multiplication) {
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frc::Matrixd<2, 2> m1{{2, 1}, {0, 1}};
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frc::Matrixd<2, 2> m2{{3, 0}, {0, 2.5}};
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const auto result = m1 * m2;
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frc::Matrixd<2, 2> expectedResult{{6.0, 2.5}, {0.0, 2.5}};
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EXPECT_TRUE(expectedResult.isApprox(result));
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frc::Matrixd<2, 3> m3{{1.0, 3.0, 0.5}, {2.0, 4.3, 1.2}};
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frc::Matrixd<3, 4> m4{
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{3.0, 1.5, 2.0, 4.5}, {2.3, 1.0, 1.6, 3.1}, {5.2, 2.1, 2.0, 1.0}};
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const auto result2 = m3 * m4;
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frc::Matrixd<2, 4> expectedResult2{{12.5, 5.55, 7.8, 14.3},
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{22.13, 9.82, 13.28, 23.53}};
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EXPECT_TRUE(expectedResult2.isApprox(result2));
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}
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TEST(EigenTest, Transpose) {
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frc::Vectord<3> vec{1, 2, 3};
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const auto transpose = vec.transpose();
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Eigen::RowVector<double, 3> expectedTranspose{1, 2, 3};
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EXPECT_TRUE(expectedTranspose.isApprox(transpose));
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}
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TEST(EigenTest, Inverse) {
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frc::Matrixd<3, 3> mat{{1.0, 3.0, 2.0}, {5.0, 2.0, 1.5}, {0.0, 1.3, 2.5}};
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const auto inverse = mat.inverse();
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const auto identity = Eigen::MatrixXd::Identity(3, 3);
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EXPECT_TRUE(identity.isApprox(mat * inverse));
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}
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