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enable complex type for PIMathVectorT and PIMathMatrixT

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TODO: add precision to invert and test vector
This commit is contained in:
Пелипенко Иван
2024-10-16 22:10:28 +03:00
parent 92a87a0c64
commit d3d7235338
4 changed files with 258 additions and 207 deletions
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6
libs/main/math/pimathcomplex.h
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@@ -36,6 +36,12 @@
using std::complex; using std::complex;
template<typename T>
struct is_complex: std::false_type {};
template<typename T>
struct is_complex<std::complex<T>>: std::true_type {};
typedef complex<int> complexi; typedef complex<int> complexi;
typedef complex<short> complexs; typedef complex<short> complexs;
typedef complex<float> complexf; typedef complex<float> complexf;

26
libs/main/math/pimathmatrix.h
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@@ -63,7 +63,7 @@ class PIP_EXPORT PIMathMatrixT {
typedef PIMathMatrixT<Cols, Rows, Type> _CMatrixI; typedef PIMathMatrixT<Cols, Rows, Type> _CMatrixI;
typedef PIMathVectorT<Rows, Type> _CMCol; typedef PIMathVectorT<Rows, Type> _CMCol;
typedef PIMathVectorT<Cols, Type> _CMRow; typedef PIMathVectorT<Cols, Type> _CMRow;
static_assert(std::is_arithmetic<Type>::value, "Type must be arithmetic"); static_assert(std::is_arithmetic<Type>::value || is_complex<Type>::value, "Type must be arithmetic or complex");
static_assert(Rows > 0, "Row count must be > 0"); static_assert(Rows > 0, "Row count must be > 0");
static_assert(Cols > 0, "Column count must be > 0"); static_assert(Cols > 0, "Column count must be > 0");
@@ -386,7 +386,7 @@ public:
//! \brief Деление с присваиванием с матрицей `v`. //! \brief Деление с присваиванием с матрицей `v`.
//! \param sm матрица для деления с присваиванием. //! \param sm матрица для деления с присваиванием.
void operator/=(const Type & v) { void operator/=(const Type & v) {
assert(piAbs<Type>(v) > PIMATHVECTOR_ZERO_CMP); assert(std::abs(v) > PIMATHVECTOR_ZERO_CMP);
PIMM_FOR m[r][c] /= v; PIMM_FOR m[r][c] /= v;
} }
@@ -453,7 +453,7 @@ public:
//! \param v делитель. //! \param v делитель.
//! \return результат деления. //! \return результат деления.
PIMathMatrixT<Rows, Cols, Type> operator/(const Type & v) const { PIMathMatrixT<Rows, Cols, Type> operator/(const Type & v) const {
assert(piAbs<Type>(v) > PIMATHVECTOR_ZERO_CMP); assert(std::abs(v) > PIMATHVECTOR_ZERO_CMP);
PIMathMatrixT<Rows, Cols, Type> tm = PIMathMatrixT<Rows, Cols, Type>(*this); PIMathMatrixT<Rows, Cols, Type> tm = PIMathMatrixT<Rows, Cols, Type>(*this);
PIMM_FOR tm.m[r][c] /= v; PIMM_FOR tm.m[r][c] /= v;
return tm; return tm;
@@ -517,7 +517,7 @@ public:
for (uint i = 0; i < Cols; ++i) { for (uint i = 0; i < Cols; ++i) {
ndet = true; ndet = true;
for (uint j = 0; j < Rows; ++j) for (uint j = 0; j < Rows; ++j)
if (smat.m[i][j] != 0) ndet = false; if (smat.m[i][j] != Type{}) ndet = false;
if (ndet) { if (ndet) {
if (ok != 0) *ok = false; if (ok != 0) *ok = false;
return *this; return *this;
@@ -525,15 +525,16 @@ public:
} }
for (uint i = 0; i < Cols; ++i) { for (uint i = 0; i < Cols; ++i) {
crow = i; crow = i;
while (smat.m[i][i] == Type(0)) while (smat.m[i][i] == Type{}) {
smat.swapRows(i, ++crow); smat.swapRows(i, ++crow);
}
for (uint j = i + 1; j < Rows; ++j) { for (uint j = i + 1; j < Rows; ++j) {
mul = smat.m[i][j] / smat.m[i][i]; mul = smat.m[i][j] / smat.m[i][i];
for (uint k = i; k < Cols; ++k) for (uint k = i; k < Cols; ++k)
smat.m[k][j] -= mul * smat.m[k][i]; smat.m[k][j] -= mul * smat.m[k][i];
} }
if (i < Cols - 1) { if (i < Cols - 1) {
if (piAbs<Type>(smat.m[i + 1][i + 1]) < Type(1E-200)) { if (std::abs(smat.m[i + 1][i + 1]) < PIMATHVECTOR_ZERO_CMP) {
if (ok != 0) *ok = false; if (ok != 0) *ok = false;
return *this; return *this;
} }
@@ -562,8 +563,9 @@ public:
Type mul, iddiv; Type mul, iddiv;
for (uint i = 0; i < Cols; ++i) { for (uint i = 0; i < Cols; ++i) {
ndet = true; ndet = true;
for (uint j = 0; j < Rows; ++j) for (uint j = 0; j < Rows; ++j) {
if (smat.m[i][j] != 0) ndet = false; if (std::abs(smat.m[i][j]) >= PIMATHVECTOR_ZERO_CMP) ndet = false;
}
if (ndet) { if (ndet) {
if (ok != 0) *ok = false; if (ok != 0) *ok = false;
return *this; return *this;
@@ -571,7 +573,7 @@ public:
} }
for (uint i = 0; i < Cols; ++i) { for (uint i = 0; i < Cols; ++i) {
crow = i; crow = i;
while (smat.m[i][i] == Type(0)) { while (std::abs(smat.m[i][i]) < PIMATHVECTOR_ZERO_CMP) {
++crow; ++crow;
smat.swapRows(i, crow); smat.swapRows(i, crow);
mtmp.swapRows(i, crow); mtmp.swapRows(i, crow);
@@ -584,7 +586,7 @@ public:
mtmp.m[k][j] -= mul * mtmp.m[k][i]; mtmp.m[k][j] -= mul * mtmp.m[k][i];
} }
if (i < Cols - 1) { if (i < Cols - 1) {
if (piAbs<Type>(smat.m[i + 1][i + 1]) < Type(1E-200)) { if (std::abs(smat.m[i + 1][i + 1]) < PIMATHVECTOR_ZERO_CMP) {
if (ok != 0) *ok = false; if (ok != 0) *ok = false;
return *this; return *this;
} }
@@ -650,7 +652,7 @@ public:
static_assert(Rows == 2 && Cols == 2, "Works only with 2x2 matrix"); static_assert(Rows == 2 && Cols == 2, "Works only with 2x2 matrix");
Type c = std::cos(angle); Type c = std::cos(angle);
Type s = std::sin(angle); Type s = std::sin(angle);
PIMathMatrixT<2u, 2u> tm; PIMathMatrixT<2u, 2u, Type> tm;
tm[0][0] = tm[1][1] = c; tm[0][0] = tm[1][1] = c;
tm[0][1] = -s; tm[0][1] = -s;
tm[1][0] = s; tm[1][0] = s;
@@ -671,7 +673,7 @@ public:
PIMathMatrixT<Cols, Rows, Type> outm; PIMathMatrixT<Cols, Rows, Type> outm;
Type c = std::cos(angle); Type c = std::cos(angle);
Type s = std::sin(angle); Type s = std::sin(angle);
PIMathMatrixT<2u, 2u> tm; PIMathMatrixT<2u, 2u, Type> tm;
tm[0][0] = tm[1][1] = c; tm[0][0] = tm[1][1] = c;
tm[0][1] = -s; tm[0][1] = -s;
tm[1][0] = s; tm[1][0] = s;

120
libs/main/math/pimathvector.h
View File

@@ -27,12 +27,13 @@
#define PIMATHVECTOR_H #define PIMATHVECTOR_H
#include "pimathbase.h" #include "pimathbase.h"
#include "pimathcomplex.h"
template<uint Cols, uint Rows, typename Type> template<uint Cols, uint Rows, typename Type>
class PIMathMatrixT; class PIMathMatrixT;
#define PIMATHVECTOR_ZERO_CMP Type(1E-100) #define PIMATHVECTOR_ZERO_CMP (1E-100)
/// Vector templated /// Vector templated
@@ -42,7 +43,7 @@ class PIMathMatrixT;
template<uint Size, typename Type = double> template<uint Size, typename Type = double>
class PIP_EXPORT PIMathVectorT { class PIP_EXPORT PIMathVectorT {
typedef PIMathVectorT<Size, Type> _CVector; typedef PIMathVectorT<Size, Type> _CVector;
static_assert(std::is_arithmetic<Type>::value, "Type must be arithmetic"); static_assert(std::is_arithmetic<Type>::value || is_complex<Type>::value, "Type must be arithmetic or complex");
static_assert(Size > 0, "Size must be > 0"); static_assert(Size > 0, "Size must be > 0");
public: public:
@@ -83,35 +84,71 @@ public:
PIMV_FOR tv += c[i] * c[i]; PIMV_FOR tv += c[i] * c[i];
return tv; return tv;
} }
Type length() const { return std::sqrt(lengthSqr()); }
Type length() const {
static_assert(std::is_arithmetic<Type>::value, "Unavailable for complex");
if (std::is_arithmetic<Type>::value) return std::sqrt(lengthSqr());
// if (is_complex<Type>::value) return 1000.; // std::sqrt(lengthSqr());
}
Type manhattanLength() const { Type manhattanLength() const {
Type tv(0); static_assert(std::is_arithmetic<Type>::value, "Unavailable for complex");
PIMV_FOR tv += piAbs<Type>(c[i]); if (std::is_arithmetic<Type>::value) {
return tv; Type tv(0);
PIMV_FOR tv += piAbs<Type>(c[i]);
return tv;
}
} }
Type angleCos(const _CVector & v) const { Type angleCos(const _CVector & v) const {
Type tv = v.length() * length(); static_assert(std::is_arithmetic<Type>::value, "Unavailable for complex");
assert(piAbs<Type>(tv) > PIMATHVECTOR_ZERO_CMP); if (std::is_arithmetic<Type>::value) {
return dot(v) / tv; Type tv = v.length() * length();
assert(piAbs<Type>(tv) > PIMATHVECTOR_ZERO_CMP);
return dot(v) / tv;
}
} }
Type angleSin(const _CVector & v) const { Type angleSin(const _CVector & v) const {
Type tv = angleCos(v); static_assert(std::is_arithmetic<Type>::value, "Unavailable for complex");
return std::sqrt(Type(1) - tv * tv); if (std::is_arithmetic<Type>::value) {
Type tv = angleCos(v);
return std::sqrt(Type(1) - tv * tv);
}
}
Type angleRad(const _CVector & v) const {
static_assert(std::is_arithmetic<Type>::value, "Unavailable for complex");
if (std::is_arithmetic<Type>::value) {
return std::acos(angleCos(v));
}
}
Type angleDeg(const _CVector & v) const {
static_assert(std::is_arithmetic<Type>::value, "Unavailable for complex");
if (std::is_arithmetic<Type>::value) {
return toDeg(angleRad(v));
}
}
Type angleElevation(const _CVector & v) const {
static_assert(std::is_arithmetic<Type>::value, "Unavailable for complex");
if (std::is_arithmetic<Type>::value) {
return 90.0 - angleDeg(v - *this);
}
} }
Type angleRad(const _CVector & v) const { return std::acos(angleCos(v)); }
Type angleDeg(const _CVector & v) const { return toDeg(angleRad(v)); }
Type angleElevation(const _CVector & v) const { return 90.0 - angleDeg(v - *this); }
_CVector projection(const _CVector & v) { _CVector projection(const _CVector & v) {
Type tv = v.length(); static_assert(std::is_arithmetic<Type>::value, "Unavailable for complex");
assert(piAbs<Type>(tv) > PIMATHVECTOR_ZERO_CMP); if (std::is_arithmetic<Type>::value) {
return v * (dot(v) / tv); Type tv = v.length();
assert(piAbs<Type>(tv) > PIMATHVECTOR_ZERO_CMP);
return v * (dot(v) / tv);
}
} }
_CVector & normalize() { _CVector & normalize() {
Type tv = length(); static_assert(std::is_arithmetic<Type>::value, "Unavailable for complex");
assert(piAbs<Type>(tv) > PIMATHVECTOR_ZERO_CMP); if (std::is_arithmetic<Type>::value) {
if (tv == Type(1)) return *this; Type tv = length();
PIMV_FOR c[i] /= tv; assert(piAbs<Type>(tv) > PIMATHVECTOR_ZERO_CMP);
return *this; if (tv == Type(1)) return *this;
PIMV_FOR c[i] /= tv;
return *this;
}
} }
_CVector normalized() { _CVector normalized() {
_CVector tv(*this); _CVector tv(*this);
@@ -119,10 +156,10 @@ public:
return tv; return tv;
} }
bool isNull() const { bool isNull() const {
PIMV_FOR if (c[i] != Type(0)) return false; PIMV_FOR if (c[i] != Type{}) return false;
return true; return true;
} }
bool isOrtho(const _CVector & v) const { return ((*this) ^ v) == Type(0); } bool isOrtho(const _CVector & v) const { return ((*this) ^ v) == Type{}; }
Type & operator[](uint index) { return c[index]; } Type & operator[](uint index) { return c[index]; }
const Type & operator[](uint index) const { return c[index]; } const Type & operator[](uint index) const { return c[index]; }
@@ -145,7 +182,7 @@ public:
void operator-=(const _CVector & v) { PIMV_FOR c[i] -= v[i]; } void operator-=(const _CVector & v) { PIMV_FOR c[i] -= v[i]; }
void operator*=(const Type & v) { PIMV_FOR c[i] *= v; } void operator*=(const Type & v) { PIMV_FOR c[i] *= v; }
void operator/=(const Type & v) { void operator/=(const Type & v) {
assert(piAbs<Type>(v) > PIMATHVECTOR_ZERO_CMP); assert(std::abs(v) > PIMATHVECTOR_ZERO_CMP);
PIMV_FOR c[i] /= v; PIMV_FOR c[i] /= v;
} }
_CVector operator-() const { _CVector operator-() const {
@@ -169,7 +206,7 @@ public:
return tv; return tv;
} }
_CVector operator/(const Type & v) const { _CVector operator/(const Type & v) const {
assert(piAbs<Type>(v) > PIMATHVECTOR_ZERO_CMP); assert(std::abs(v) > PIMATHVECTOR_ZERO_CMP);
_CVector tv = _CVector(*this); _CVector tv = _CVector(*this);
PIMV_FOR tv[i] /= v; PIMV_FOR tv[i] /= v;
return tv; return tv;
@@ -184,7 +221,7 @@ public:
return tv; return tv;
} }
Type dot(const _CVector & v) const { Type dot(const _CVector & v) const {
Type tv(0); Type tv{};
PIMV_FOR tv += c[i] * v[i]; PIMV_FOR tv += c[i] * v[i];
return tv; return tv;
} }
@@ -197,7 +234,7 @@ public:
_CVector div(const _CVector & v) const { _CVector div(const _CVector & v) const {
_CVector tv(*this); _CVector tv(*this);
PIMV_FOR { PIMV_FOR {
assert(piAbs<Type>(v[i]) > PIMATHVECTOR_ZERO_CMP); assert(std::abs(v[i]) > PIMATHVECTOR_ZERO_CMP);
tv[i] /= v[i]; tv[i] /= v[i];
} }
return tv; return tv;
@@ -211,11 +248,14 @@ public:
} }
Type distToLine(const _CVector & lp0, const _CVector & lp1) { Type distToLine(const _CVector & lp0, const _CVector & lp1) {
_CVector a(lp0, lp1); static_assert(std::is_arithmetic<Type>::value, "Unavailable for complex");
Type tv = a.length(); if (std::is_arithmetic<Type>::value) {
assert(piAbs<Type>(tv) > PIMATHVECTOR_ZERO_CMP); _CVector a(lp0, lp1);
_CVector b(lp0, *this); Type tv = a.length();
return piAbs<Type>(a[0] * b[1] - a[1] * b[0]) / tv; assert(std::abs(tv) > PIMATHVECTOR_ZERO_CMP);
_CVector b(lp0, *this);
return piAbs<Type>(a[0] * b[1] - a[1] * b[0]) / tv;
}
} }
template<uint Size1, typename Type1> /// vector {Size, Type} to vector {Size1, Type1} template<uint Size1, typename Type1> /// vector {Size, Type} to vector {Size1, Type1}
@@ -394,7 +434,7 @@ public:
Type angleCos(const _CVector & v) const { Type angleCos(const _CVector & v) const {
assert(c.size() == v.size()); assert(c.size() == v.size());
Type tv = v.length() * length(); Type tv = v.length() * length();
assert(piAbs<Type>(tv) > PIMATHVECTOR_ZERO_CMP); assert(std::abs(tv) > PIMATHVECTOR_ZERO_CMP);
return dot(v) / tv; return dot(v) / tv;
} }
Type angleSin(const _CVector & v) const { Type angleSin(const _CVector & v) const {
@@ -407,12 +447,12 @@ public:
_CVector projection(const _CVector & v) { _CVector projection(const _CVector & v) {
assert(c.size() == v.size()); assert(c.size() == v.size());
Type tv = v.length(); Type tv = v.length();
assert(piAbs<Type>(tv) > PIMATHVECTOR_ZERO_CMP); assert(std::abs(tv) > PIMATHVECTOR_ZERO_CMP);
return v * (dot(v) / tv); return v * (dot(v) / tv);
} }
_CVector & normalize() { _CVector & normalize() {
Type tv = length(); Type tv = length();
assert(piAbs<Type>(tv) > PIMATHVECTOR_ZERO_CMP); assert(std::abs(tv) > PIMATHVECTOR_ZERO_CMP);
if (tv == Type(1)) return *this; if (tv == Type(1)) return *this;
PIMV_FOR c[i] /= tv; PIMV_FOR c[i] /= tv;
return *this; return *this;
@@ -451,7 +491,7 @@ public:
} }
void operator*=(const Type & v) { PIMV_FOR c[i] *= v; } void operator*=(const Type & v) { PIMV_FOR c[i] *= v; }
void operator/=(const Type & v) { void operator/=(const Type & v) {
assert(piAbs<Type>(v) > PIMATHVECTOR_ZERO_CMP); assert(std::abs(v) > PIMATHVECTOR_ZERO_CMP);
PIMV_FOR c[i] /= v; PIMV_FOR c[i] /= v;
} }
_CVector operator-() const { _CVector operator-() const {
@@ -477,7 +517,7 @@ public:
return tv; return tv;
} }
_CVector operator/(const Type & v) const { _CVector operator/(const Type & v) const {
assert(piAbs<Type>(v) > PIMATHVECTOR_ZERO_CMP); assert(std::abs(v) > PIMATHVECTOR_ZERO_CMP);
_CVector tv(*this); _CVector tv(*this);
PIMV_FOR tv[i] /= v; PIMV_FOR tv[i] /= v;
return tv; return tv;
@@ -508,7 +548,7 @@ public:
assert(c.size() == v.size()); assert(c.size() == v.size());
_CVector tv(*this); _CVector tv(*this);
PIMV_FOR { PIMV_FOR {
assert(piAbs<Type>(v[i]) > PIMATHVECTOR_ZERO_CMP); assert(std::abs(v[i]) > PIMATHVECTOR_ZERO_CMP);
tv[i] /= v[i]; tv[i] /= v[i];
} }
return tv; return tv;
@@ -520,7 +560,7 @@ public:
assert(c.size() == lp1.size()); assert(c.size() == lp1.size());
_CVector a = _CVector::fromTwoPoints(lp0, lp1); _CVector a = _CVector::fromTwoPoints(lp0, lp1);
Type tv = a.length(); Type tv = a.length();
assert(piAbs<Type>(tv) > PIMATHVECTOR_ZERO_CMP); assert(std::abs(tv) > PIMATHVECTOR_ZERO_CMP);
_CVector b = _CVector::fromTwoPoints(lp0, *this); _CVector b = _CVector::fromTwoPoints(lp0, *this);
return piAbs<Type>(a[0] * b[1] - a[1] * b[0]) / tv; return piAbs<Type>(a[0] * b[1] - a[1] * b[0]) / tv;
} }

313
tests/math/testpimathmatrixt.cpp
View File

@@ -4,8 +4,9 @@
const uint rows = 3; const uint rows = 3;
const uint cols = 3; const uint cols = 3;
using Type = double;
bool cmpSquareMatrixWithValue(PIMathMatrixT<rows, cols, double> matrix, double val, int num) { bool cmpSquareMatrixWithValue(PIMathMatrixT<rows, cols, Type> matrix, Type val, int num) {
for (int i = 0; i < num; i++) { for (int i = 0; i < num; i++) {
for (int j = 0; j < num; j++) { for (int j = 0; j < num; j++) {
if (matrix.at(i, j) != val) { if (matrix.at(i, j) != val) {
@@ -17,50 +18,50 @@ bool cmpSquareMatrixWithValue(PIMathMatrixT<rows, cols, double> matrix, double v
} }
TEST(PIMathMatrixT_Test, identity) { TEST(PIMathMatrixT_Test, identity) {
auto matrix = PIMathMatrixT<rows, cols, double>::identity(); auto matrix = PIMathMatrixT<rows, cols, Type>::identity();
for (int i = 0; i < 3; i++) { for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) { for (int j = 0; j < 3; j++) {
if (i != j) { if (i != j) {
if (matrix[i][j] != 0.0) { if (matrix[i][j] != 0.0) {
ASSERT_TRUE(false); EXPECT_TRUE(false);
} }
} else { } else {
if (matrix[i][i] != 1.0) { if (matrix[i][i] != 1.0) {
ASSERT_TRUE(false); EXPECT_TRUE(false);
} }
} }
} }
} }
ASSERT_TRUE(true); EXPECT_TRUE(true);
} }
TEST(PIMathMatrixT_Test, at) { TEST(PIMathMatrixT_Test, at) {
auto matrix1 = PIMathMatrixT<rows, cols, double>::identity(); auto matrix1 = PIMathMatrixT<rows, cols, Type>::identity();
for (uint i = 0; i < rows; i++) { for (uint i = 0; i < rows; i++) {
if (matrix1.at(i, i) != 1.0) { if (matrix1.at(i, i) != 1.0) {
ASSERT_TRUE(false); EXPECT_TRUE(false);
} }
} }
ASSERT_TRUE(true); EXPECT_TRUE(true);
} }
TEST(PIMathMatrixT_Test, filled) { TEST(PIMathMatrixT_Test, filled) {
auto matr = PIMathMatrixT<rows, cols, double>(1.0); auto matr = PIMathMatrixT<rows, cols, Type>(1.0);
ASSERT_TRUE(cmpSquareMatrixWithValue(matr, 1.0, rows)); EXPECT_TRUE(cmpSquareMatrixWithValue(matr, 1.0, rows));
} }
TEST(PIMathMatrixT_Test, cols) { TEST(PIMathMatrixT_Test, cols) {
PIMathMatrixT<rows, cols, double> matr; PIMathMatrixT<rows, cols, Type> matr;
ASSERT_EQ(cols, matr.cols()); EXPECT_EQ(cols, matr.cols());
} }
TEST(PIMathMatrixT_Test, rows) { TEST(PIMathMatrixT_Test, rows) {
PIMathMatrixT<rows, cols, double> matr; PIMathMatrixT<rows, cols, Type> matr;
ASSERT_EQ(rows, matr.rows()); EXPECT_EQ(rows, matr.rows());
} }
TEST(PIMathMatrixT_Test, col) { TEST(PIMathMatrixT_Test, col) {
PIMathMatrixT<rows, cols, double> matr; PIMathMatrixT<rows, cols, Type> matr;
PIMathVectorT<rows, double> vect; PIMathVectorT<rows, Type> vect;
uint g = 2; uint g = 2;
matr.element(0, 0) = 3; matr.element(0, 0) = 3;
matr.element(0, 1) = 6; matr.element(0, 1) = 6;
@@ -74,15 +75,15 @@ TEST(PIMathMatrixT_Test, col) {
vect = matr.col(g); vect = matr.col(g);
for (uint i = 0; i < matr.cols(); i++) { for (uint i = 0; i < matr.cols(); i++) {
if (matr.element(i, g) != vect[i]) { if (matr.element(i, g) != vect[i]) {
ASSERT_TRUE(false); EXPECT_TRUE(false);
} }
} }
ASSERT_TRUE(true); EXPECT_TRUE(true);
} }
TEST(PIMathMatrixT_Test, row) { TEST(PIMathMatrixT_Test, row) {
PIMathMatrixT<rows, cols, double> matr; PIMathMatrixT<rows, cols, Type> matr;
PIMathVectorT<rows, double> vect; PIMathVectorT<rows, Type> vect;
uint g = 2; uint g = 2;
matr.element(0, 0) = 3; matr.element(0, 0) = 3;
matr.element(0, 1) = 6; matr.element(0, 1) = 6;
@@ -96,15 +97,15 @@ TEST(PIMathMatrixT_Test, row) {
vect = matr.row(g); vect = matr.row(g);
for (uint i = 0; i < matr.rows(); i++) { for (uint i = 0; i < matr.rows(); i++) {
if (matr.element(g, i) != vect[i]) { if (matr.element(g, i) != vect[i]) {
ASSERT_TRUE(false); EXPECT_TRUE(false);
} }
} }
ASSERT_TRUE(true); EXPECT_TRUE(true);
} }
TEST(PIMathMatrixT_Test, setCol) { TEST(PIMathMatrixT_Test, setCol) {
PIMathMatrixT<rows, cols, double> matr; PIMathMatrixT<rows, cols, Type> matr;
PIMathVectorT<rows, double> vect; PIMathVectorT<rows, Type> vect;
vect[0] = 1.0; vect[0] = 1.0;
vect[1] = 3.0; vect[1] = 3.0;
vect[2] = 5.0; vect[2] = 5.0;
@@ -112,15 +113,15 @@ TEST(PIMathMatrixT_Test, setCol) {
matr.setCol(g, vect); matr.setCol(g, vect);
for (uint i = 0; i < vect.size(); i++) { for (uint i = 0; i < vect.size(); i++) {
if (matr.element(i, g) != vect[i]) { if (matr.element(i, g) != vect[i]) {
ASSERT_TRUE(false); EXPECT_TRUE(false);
} }
} }
ASSERT_TRUE(true); EXPECT_TRUE(true);
} }
TEST(PIMathMatrixT_Test, setRow) { TEST(PIMathMatrixT_Test, setRow) {
PIMathMatrixT<rows, cols, double> matr; PIMathMatrixT<rows, cols, Type> matr;
PIMathVectorT<rows, double> vect; PIMathVectorT<rows, Type> vect;
vect[0] = 1.0; vect[0] = 1.0;
vect[1] = 3.0; vect[1] = 3.0;
vect[2] = 5.0; vect[2] = 5.0;
@@ -128,114 +129,114 @@ TEST(PIMathMatrixT_Test, setRow) {
matr.setRow(g, vect); matr.setRow(g, vect);
for (uint i = 0; i < vect.size(); i++) { for (uint i = 0; i < vect.size(); i++) {
if (matr.element(g, i) != vect[i]) { if (matr.element(g, i) != vect[i]) {
ASSERT_TRUE(false); EXPECT_TRUE(false);
} }
} }
ASSERT_TRUE(true); EXPECT_TRUE(true);
} }
TEST(PIMathMatrixT_Test, swapCols) { TEST(PIMathMatrixT_Test, swapCols) {
PIMathMatrixT<rows, cols, double> matr; PIMathMatrixT<rows, cols, Type> matr;
int g1 = 1, g2 = 2; int g1 = 1, g2 = 2;
matr.element(0, 0) = 3; matr.element(0, 0) = 3;
matr.element(0, 1) = 6; matr.element(0, 1) = 6;
matr.element(0, 2) = 8; matr.element(0, 2) = 8;
matr.element(1, 0) = 2; matr.element(1, 0) = 2;
matr.element(1, 1) = 1; matr.element(1, 1) = 1;
matr.element(1, 2) = 4; matr.element(1, 2) = 4;
matr.element(2, 0) = 6; matr.element(2, 0) = 6;
matr.element(2, 1) = 2; matr.element(2, 1) = 2;
matr.element(2, 2) = 5; matr.element(2, 2) = 5;
const PIMathVectorT<rows, double> before_Vect1 = matr.col(g1); const PIMathVectorT<rows, Type> before_Vect1 = matr.col(g1);
const PIMathVectorT<rows, double> before_Vect2 = matr.col(g2); const PIMathVectorT<rows, Type> before_Vect2 = matr.col(g2);
matr.swapCols(g1, g2); matr.swapCols(g1, g2);
const PIMathVectorT<rows, double> after_Vect1 = matr.col(g1); const PIMathVectorT<rows, Type> after_Vect1 = matr.col(g1);
const PIMathVectorT<rows, double> after_Vect2 = matr.col(g2); const PIMathVectorT<rows, Type> after_Vect2 = matr.col(g2);
if ((before_Vect1 == after_Vect2) && (before_Vect2 == after_Vect1)) { if ((before_Vect1 == after_Vect2) && (before_Vect2 == after_Vect1)) {
ASSERT_TRUE(true); EXPECT_TRUE(true);
} else { } else {
ASSERT_TRUE(false); EXPECT_TRUE(false);
} }
} }
TEST(PIMathMatrixT_Test, swapRows) { TEST(PIMathMatrixT_Test, swapRows) {
PIMathMatrixT<rows, cols, double> matr; PIMathMatrixT<rows, cols, Type> matr;
int g1 = 1, g2 = 2; int g1 = 1, g2 = 2;
matr.element(0, 0) = 3; matr.element(0, 0) = 3;
matr.element(0, 1) = 6; matr.element(0, 1) = 6;
matr.element(0, 2) = 8; matr.element(0, 2) = 8;
matr.element(1, 0) = 2; matr.element(1, 0) = 2;
matr.element(1, 1) = 1; matr.element(1, 1) = 1;
matr.element(1, 2) = 4; matr.element(1, 2) = 4;
matr.element(2, 0) = 6; matr.element(2, 0) = 6;
matr.element(2, 1) = 2; matr.element(2, 1) = 2;
matr.element(2, 2) = 5; matr.element(2, 2) = 5;
const PIMathVectorT<rows, double> before_Vect1 = matr.row(g1); const PIMathVectorT<rows, Type> before_Vect1 = matr.row(g1);
const PIMathVectorT<rows, double> before_Vect2 = matr.row(g2); const PIMathVectorT<rows, Type> before_Vect2 = matr.row(g2);
matr.swapRows(g1, g2); matr.swapRows(g1, g2);
const PIMathVectorT<rows, double> after_Vect1 = matr.row(g1); const PIMathVectorT<rows, Type> after_Vect1 = matr.row(g1);
const PIMathVectorT<rows, double> after_Vect2 = matr.row(g2); const PIMathVectorT<rows, Type> after_Vect2 = matr.row(g2);
if ((before_Vect1 == after_Vect2) && (before_Vect2 == after_Vect1)) { if ((before_Vect1 == after_Vect2) && (before_Vect2 == after_Vect1)) {
ASSERT_TRUE(true); EXPECT_TRUE(true);
} else { } else {
ASSERT_TRUE(false); EXPECT_TRUE(false);
} }
} }
TEST(PIMathMatrixT_Test, fill) { TEST(PIMathMatrixT_Test, fill) {
PIMathMatrixT<rows, cols, double> matr; PIMathMatrixT<rows, cols, Type> matr;
PIMathMatrixT<rows, cols, double> matrix1; PIMathMatrixT<rows, cols, Type> matrix1;
double g = 1.0; Type g = 1.0;
matr.fill(g); matr.fill(g);
for (uint i = 0; i < cols; i++) { for (uint i = 0; i < cols; i++) {
for (uint j = 0; j < rows; j++) { for (uint j = 0; j < rows; j++) {
matrix1.element(j, i) = g; matrix1.element(j, i) = g;
} }
} }
ASSERT_TRUE(matr == matrix1); EXPECT_TRUE(matr == matrix1);
} }
TEST(PIMathMatrixT_Test, isSquareTrue) { TEST(PIMathMatrixT_Test, isSquareTrue) {
PIMathMatrixT<rows, cols, double> matrix1; PIMathMatrixT<rows, cols, Type> matrix1;
ASSERT_TRUE(matrix1.isSquare()); EXPECT_TRUE(matrix1.isSquare());
} }
TEST(PIMathMatrixT_Test, isSquareFalse) { TEST(PIMathMatrixT_Test, isSquareFalse) {
const uint new_Cols = 4; const uint new_Cols = 4;
PIMathMatrixT<rows, new_Cols, double> matrix2; PIMathMatrixT<rows, new_Cols, Type> matrix2;
ASSERT_FALSE(matrix2.isSquare()); EXPECT_FALSE(matrix2.isSquare());
} }
TEST(PIMathMatrixT_Test, isIdentityTrue) { TEST(PIMathMatrixT_Test, isIdentityTrue) {
auto matrix1 = PIMathMatrixT<rows, cols, double>::identity(); auto matrix1 = PIMathMatrixT<rows, cols, Type>::identity();
ASSERT_TRUE(matrix1.isIdentity()); EXPECT_TRUE(matrix1.isIdentity());
} }
TEST(PIMathMatrixT_Test, isIdentityFalse) { TEST(PIMathMatrixT_Test, isIdentityFalse) {
auto matrix1 = PIMathMatrixT<rows, cols, double>(2.5); auto matrix1 = PIMathMatrixT<rows, cols, Type>(2.5);
ASSERT_FALSE(matrix1.isIdentity()); EXPECT_FALSE(matrix1.isIdentity());
} }
TEST(PIMathMatrixT_Test, isNullTrue) { TEST(PIMathMatrixT_Test, isNullTrue) {
PIMathMatrixT<rows, cols, double> matrix1; PIMathMatrixT<rows, cols, Type> matrix1;
ASSERT_TRUE(matrix1.isNull()); EXPECT_TRUE(matrix1.isNull());
} }
TEST(PIMathMatrixT_Test, isNullFalse) { TEST(PIMathMatrixT_Test, isNullFalse) {
auto matrix1 = PIMathMatrixT<rows, cols, double>::identity(); auto matrix1 = PIMathMatrixT<rows, cols, Type>::identity();
ASSERT_FALSE(matrix1.isNull()); EXPECT_FALSE(matrix1.isNull());
} }
TEST(PIMathMatrixT_Test, operator_Assignment) { TEST(PIMathMatrixT_Test, operator_Assignment) {
PIMathMatrixT<rows, cols, double> matrix1; PIMathMatrixT<rows, cols, Type> matrix1;
auto matrix2 = PIMathMatrixT<rows, cols, double>(6.72); auto matrix2 = PIMathMatrixT<rows, cols, Type>(6.72);
matrix1 = matrix2; matrix1 = matrix2;
ASSERT_TRUE(cmpSquareMatrixWithValue(matrix1, 6.72, rows)); EXPECT_TRUE(cmpSquareMatrixWithValue(matrix1, 6.72, rows));
} }
TEST(PIMathMatrixT_Test, operator_EqualTrue) { TEST(PIMathMatrixT_Test, operator_EqualTrue) {
PIMathMatrixT<rows, cols, double> matrix1; PIMathMatrixT<rows, cols, Type> matrix1;
PIMathMatrixT<rows, cols, double> matrix2; PIMathMatrixT<rows, cols, Type> matrix2;
matrix1.element(0, 0) = 5.1; matrix1.element(0, 0) = 5.1;
matrix1.element(0, 1) = 1.21; matrix1.element(0, 1) = 1.21;
matrix1.element(1, 1) = 0.671; matrix1.element(1, 1) = 0.671;
@@ -244,12 +245,12 @@ TEST(PIMathMatrixT_Test, operator_EqualTrue) {
matrix2.element(0, 1) = 1.21; matrix2.element(0, 1) = 1.21;
matrix2.element(1, 1) = 0.671; matrix2.element(1, 1) = 0.671;
matrix2.element(1, 0) = 2.623; matrix2.element(1, 0) = 2.623;
ASSERT_TRUE(matrix1 == matrix2); EXPECT_TRUE(matrix1 == matrix2);
} }
TEST(PIMathMatrixT_Test, operator_EqualFalse) { TEST(PIMathMatrixT_Test, operator_EqualFalse) {
PIMathMatrixT<rows, cols, double> matrix1; PIMathMatrixT<rows, cols, Type> matrix1;
PIMathMatrixT<rows, cols, double> matrix2; PIMathMatrixT<rows, cols, Type> matrix2;
matrix1.element(0, 0) = 5.1; matrix1.element(0, 0) = 5.1;
matrix1.element(0, 1) = 1.21; matrix1.element(0, 1) = 1.21;
matrix1.element(1, 1) = 0.671; matrix1.element(1, 1) = 0.671;
@@ -258,12 +259,12 @@ TEST(PIMathMatrixT_Test, operator_EqualFalse) {
matrix2.element(0, 1) = 1.21; matrix2.element(0, 1) = 1.21;
matrix2.element(1, 1) = 665.671; matrix2.element(1, 1) = 665.671;
matrix2.element(1, 0) = 2.623; matrix2.element(1, 0) = 2.623;
ASSERT_FALSE(matrix1 == matrix2); EXPECT_FALSE(matrix1 == matrix2);
} }
TEST(PIMathMatrixT_Test, operator_Not_EqualTrue) { TEST(PIMathMatrixT_Test, operator_Not_EqualTrue) {
PIMathMatrixT<rows, cols, double> matrix1; PIMathMatrixT<rows, cols, Type> matrix1;
PIMathMatrixT<rows, cols, double> matrix2; PIMathMatrixT<rows, cols, Type> matrix2;
matrix1.element(0, 0) = 5.1; matrix1.element(0, 0) = 5.1;
matrix1.element(0, 1) = 1.21; matrix1.element(0, 1) = 1.21;
matrix1.element(1, 1) = 0.671; matrix1.element(1, 1) = 0.671;
@@ -272,12 +273,12 @@ TEST(PIMathMatrixT_Test, operator_Not_EqualTrue) {
matrix2.element(0, 1) = 1.21; matrix2.element(0, 1) = 1.21;
matrix2.element(1, 1) = 665.671; matrix2.element(1, 1) = 665.671;
matrix2.element(1, 0) = 2.623; matrix2.element(1, 0) = 2.623;
ASSERT_TRUE(matrix1 != matrix2); EXPECT_TRUE(matrix1 != matrix2);
} }
TEST(PIMathMatrixT_Test, operator_Not_EqualFalse) { TEST(PIMathMatrixT_Test, operator_Not_EqualFalse) {
PIMathMatrixT<rows, cols, double> matrix1; PIMathMatrixT<rows, cols, Type> matrix1;
PIMathMatrixT<rows, cols, double> matrix2; PIMathMatrixT<rows, cols, Type> matrix2;
matrix1.element(0, 0) = 5.1; matrix1.element(0, 0) = 5.1;
matrix1.element(0, 1) = 1.21; matrix1.element(0, 1) = 1.21;
matrix1.element(1, 1) = 0.671; matrix1.element(1, 1) = 0.671;
@@ -286,60 +287,60 @@ TEST(PIMathMatrixT_Test, operator_Not_EqualFalse) {
matrix2.element(0, 1) = 1.21; matrix2.element(0, 1) = 1.21;
matrix2.element(1, 1) = 0.671; matrix2.element(1, 1) = 0.671;
matrix2.element(1, 0) = 2.623; matrix2.element(1, 0) = 2.623;
ASSERT_FALSE(matrix1 != matrix2); EXPECT_FALSE(matrix1 != matrix2);
} }
TEST(PIMathMatrixT_Test, operator_Addition_Assignment) { TEST(PIMathMatrixT_Test, operator_Addition_Assignment) {
auto matrix1 = PIMathMatrixT<rows, cols, double>(6.72); auto matrix1 = PIMathMatrixT<rows, cols, Type>(6.72);
auto matrix2 = PIMathMatrixT<rows, cols, double>(1.0); auto matrix2 = PIMathMatrixT<rows, cols, Type>(1.0);
matrix1 += matrix2; matrix1 += matrix2;
ASSERT_TRUE(cmpSquareMatrixWithValue(matrix1, 7.72, rows)); EXPECT_TRUE(cmpSquareMatrixWithValue(matrix1, 7.72, rows));
} }
TEST(PIMathMatrixT_Test, operator_Subtraction_Assignment) { TEST(PIMathMatrixT_Test, operator_Subtraction_Assignment) {
auto matrix1 = PIMathMatrixT<rows, cols, double>(1.0); auto matrix1 = PIMathMatrixT<rows, cols, Type>(1.0);
auto matrix2 = PIMathMatrixT<rows, cols, double>(6.72); auto matrix2 = PIMathMatrixT<rows, cols, Type>(6.72);
matrix1 -= matrix2; matrix1 -= matrix2;
ASSERT_TRUE(cmpSquareMatrixWithValue(matrix1, -5.72, rows)); EXPECT_TRUE(cmpSquareMatrixWithValue(matrix1, -5.72, rows));
} }
TEST(PIMathMatrixT_Test, operator_Multiplication_Assignment) { TEST(PIMathMatrixT_Test, operator_Multiplication_Assignment) {
auto matrix1 = PIMathMatrixT<rows, cols, double>(6.72); auto matrix1 = PIMathMatrixT<rows, cols, Type>(6.72);
matrix1 *= 2.0; matrix1 *= 2.0;
ASSERT_TRUE(cmpSquareMatrixWithValue(matrix1, 13.44, rows)); EXPECT_TRUE(cmpSquareMatrixWithValue(matrix1, 13.44, rows));
} }
TEST(PIMathMatrixT_Test, operator_Division_Assignment) { TEST(PIMathMatrixT_Test, operator_Division_Assignment) {
auto matrix1 = PIMathMatrixT<rows, cols, double>(6.72); auto matrix1 = PIMathMatrixT<rows, cols, Type>(6.72);
matrix1 /= 2.0; matrix1 /= 2.0;
ASSERT_TRUE(cmpSquareMatrixWithValue(matrix1, 3.36, rows)); EXPECT_TRUE(cmpSquareMatrixWithValue(matrix1, 3.36, rows));
} }
TEST(PIMathMatrixT_Test, operator_Addition) { TEST(PIMathMatrixT_Test, operator_Addition) {
auto matrix1 = PIMathMatrixT<rows, cols, double>(6.72); auto matrix1 = PIMathMatrixT<rows, cols, Type>(6.72);
auto matrix2 = PIMathMatrixT<rows, cols, double>(8.28); auto matrix2 = PIMathMatrixT<rows, cols, Type>(8.28);
ASSERT_TRUE(cmpSquareMatrixWithValue(matrix1 + matrix2, 15.0, rows)); EXPECT_TRUE(cmpSquareMatrixWithValue(matrix1 + matrix2, 15.0, rows));
} }
TEST(PIMathMatrixT_Test, operator_Subtraction) { TEST(PIMathMatrixT_Test, operator_Subtraction) {
auto matrix1 = PIMathMatrixT<rows, cols, double>(6.0); auto matrix1 = PIMathMatrixT<rows, cols, Type>(6.0);
auto matrix2 = PIMathMatrixT<rows, cols, double>(5.0); auto matrix2 = PIMathMatrixT<rows, cols, Type>(5.0);
ASSERT_TRUE(cmpSquareMatrixWithValue(matrix1 - matrix2, 1.0, rows)); EXPECT_TRUE(cmpSquareMatrixWithValue(matrix1 - matrix2, 1.0, rows));
} }
TEST(PIMathMatrixT_Test, operator_Multiplication) { TEST(PIMathMatrixT_Test, operator_Multiplication) {
auto matrix1 = PIMathMatrixT<rows, cols, double>(6.72); auto matrix1 = PIMathMatrixT<rows, cols, Type>(6.72);
ASSERT_TRUE(cmpSquareMatrixWithValue(matrix1 * 4.0, 26.88, rows)); EXPECT_TRUE(cmpSquareMatrixWithValue(matrix1 * 4.0, 26.88, rows));
} }
TEST(PIMathMatrixT_Test, operator_Division) { TEST(PIMathMatrixT_Test, operator_Division) {
auto matrix1 = PIMathMatrixT<rows, cols, double>(6.72); auto matrix1 = PIMathMatrixT<rows, cols, Type>(6.72);
ASSERT_TRUE(cmpSquareMatrixWithValue(matrix1 / 4.0, 1.68, rows)); EXPECT_TRUE(cmpSquareMatrixWithValue(matrix1 / 4.0, 1.68, rows));
} }
TEST(PIMathMatrixT_Test, determinantIfSquare) { TEST(PIMathMatrixT_Test, determinantIfSquare) {
double d; Type d;
double i = 59.0; Type i = 59.0;
PIMathMatrixT<rows, cols, double> matr; PIMathMatrixT<rows, cols, Type> matr;
matr.element(0, 0) = 3; matr.element(0, 0) = 3;
matr.element(0, 1) = 6; matr.element(0, 1) = 6;
matr.element(0, 2) = 8; matr.element(0, 2) = 8;
@@ -350,15 +351,15 @@ TEST(PIMathMatrixT_Test, determinantIfSquare) {
matr.element(2, 1) = 2; matr.element(2, 1) = 2;
matr.element(2, 2) = 5; matr.element(2, 2) = 5;
d = matr.determinant(); d = matr.determinant();
ASSERT_DOUBLE_EQ(i, d); EXPECT_DOUBLE_EQ(std::abs(i - d), 0.);
} }
TEST(PIMathMatrixT_Test, invert) { TEST(PIMathMatrixT_Test, invert) {
PIMathMatrixT<rows, cols, double> matrix1; PIMathMatrixT<rows, cols, Type> matrix1;
PIMathMatrixT<rows, cols, double> matrix2; PIMathMatrixT<rows, cols, Type> matrix2;
PIMathMatrixT<rows, cols, double> matrix3; PIMathMatrixT<rows, cols, Type> matrix3;
PIMathMatrixT<rows, cols, double> matr; PIMathMatrixT<rows, cols, Type> matr;
double d1, d2; Type d1, d2;
matr.element(0, 0) = 3; matr.element(0, 0) = 3;
matr.element(0, 1) = 6; matr.element(0, 1) = 6;
matr.element(0, 2) = 8; matr.element(0, 2) = 8;
@@ -374,15 +375,16 @@ TEST(PIMathMatrixT_Test, invert) {
d2 = matrix2.determinant(); d2 = matrix2.determinant();
matrix3 = matrix1; matrix3 = matrix1;
matrix1.invert(); matrix1.invert();
ASSERT_TRUE((matrix1 == matrix3) && piCompare(d1, 1 / d2)); EXPECT_EQ(matrix1, matrix3);
EXPECT_DOUBLE_EQ(std::abs(d1 - (1. / d2)), 0.);
} }
TEST(PIMathMatrixT_Test, inverted) { TEST(PIMathMatrixT_Test, inverted) {
PIMathMatrixT<rows, cols, double> matrix1; PIMathMatrixT<rows, cols, Type> matrix1;
PIMathMatrixT<rows, cols, double> matrix2; PIMathMatrixT<rows, cols, Type> matrix2;
PIMathMatrixT<rows, cols, double> matrix3; PIMathMatrixT<rows, cols, Type> matrix3;
PIMathMatrixT<rows, cols, double> matr; PIMathMatrixT<rows, cols, Type> matr;
double d1, d2; Type d1, d2;
matrix1 = matr.identity(); matrix1 = matr.identity();
matr.element(0, 0) = 3; matr.element(0, 0) = 3;
matr.element(0, 1) = 6; matr.element(0, 1) = 6;
@@ -397,13 +399,14 @@ TEST(PIMathMatrixT_Test, inverted) {
d1 = matr.determinant(); d1 = matr.determinant();
d2 = matrix2.determinant(); d2 = matrix2.determinant();
matrix3 = matrix1.inverted(); matrix3 = matrix1.inverted();
ASSERT_TRUE((matrix1 == matrix3) && (round((1 / d1) * 10000) / 10000 == round(d2 * 10000) / 10000)); EXPECT_EQ(matrix1, matrix3);
EXPECT_DOUBLE_EQ(std::abs(d1 - (1. / d2)), 0.);
} }
TEST(PIMathMatrixT_Test, toUpperTriangular) { TEST(PIMathMatrixT_Test, toUpperTriangular) {
PIMathMatrixT<rows, cols, double> matrix; PIMathMatrixT<rows, cols, Type> matrix;
double d1, d2 = 1; Type d1, d2 = 1;
PIMathMatrixT<rows, cols, double> matr; PIMathMatrixT<rows, cols, Type> matr;
matr.element(0, 0) = 3; matr.element(0, 0) = 3;
matr.element(0, 1) = 6; matr.element(0, 1) = 6;
matr.element(0, 2) = 8; matr.element(0, 2) = 8;
@@ -418,14 +421,14 @@ TEST(PIMathMatrixT_Test, toUpperTriangular) {
for (uint i = 0; i < cols; i++) { for (uint i = 0; i < cols; i++) {
d2 = d2 * matrix.at(i, i); d2 = d2 * matrix.at(i, i);
} }
ASSERT_DOUBLE_EQ(d1, d2); EXPECT_LE(std::abs(d1 - d2), PIMATHVECTOR_ZERO_CMP);
} }
TEST(PIMathMatrixT_Test, transposed) { TEST(PIMathMatrixT_Test, transposed) {
PIMathMatrixT<rows, cols, double> matrix1; PIMathMatrixT<rows, cols, Type> matrix1;
PIMathMatrixT<rows, cols, double> matrix2; PIMathMatrixT<rows, cols, Type> matrix2;
PIMathMatrixT<rows, cols, double> matr; PIMathMatrixT<rows, cols, Type> matr;
double d1, d2; Type d1, d2;
matr.element(0, 0) = 3; matr.element(0, 0) = 3;
matr.element(0, 1) = 6; matr.element(0, 1) = 6;
matr.element(0, 2) = 8; matr.element(0, 2) = 8;
@@ -439,46 +442,46 @@ TEST(PIMathMatrixT_Test, transposed) {
matrix1 = matr.transposed(); matrix1 = matr.transposed();
d2 = matrix1.determinant(); d2 = matrix1.determinant();
matrix2 = matrix1.transposed(); matrix2 = matrix1.transposed();
ASSERT_TRUE((d1 == d2) && (matr == matrix2)); EXPECT_TRUE((d1 == d2) && (matr == matrix2));
} }
TEST(PIMathMatrixT_Test, rotation_2x2) { TEST(PIMathMatrixT_Test, rotation_2x2) {
double angle = 1.0; Type angle = 1.0;
auto matrix = PIMathMatrixT<2u, 2u, double>::identity(); auto matrix = PIMathMatrixT<2u, 2u, Type>::identity();
matrix.rotate(angle); matrix.rotate(angle);
double c = cos(angle); Type c = cos(angle);
double s = sin(angle); Type s = sin(angle);
ASSERT_TRUE((c == matrix.at(1u, 1u)) && (c == matrix.at(0u, 0u)) && (-s == matrix.at(0u, 1u)) && (s == matrix.at(1u, 0u))); EXPECT_TRUE((c == matrix.at(1u, 1u)) && (c == matrix.at(0u, 0u)) && (-s == matrix.at(0u, 1u)) && (s == matrix.at(1u, 0u)));
} }
TEST(PIMathMatrixT_Test, matrixMultiplication) { TEST(PIMathMatrixT_Test, matrixMultiplication) {
auto matrix1 = PIMathMatrixT<rows, cols, double>(1.5); auto matrix1 = PIMathMatrixT<rows, cols, Type>(1.5);
auto matrix2 = PIMathMatrixT<rows, cols, double>(2.5); auto matrix2 = PIMathMatrixT<rows, cols, Type>(2.5);
ASSERT_TRUE(cmpSquareMatrixWithValue(matrix1 * matrix2, 11.25, 3)); EXPECT_TRUE(cmpSquareMatrixWithValue(matrix1 * matrix2, 11.25, 3));
} }
TEST(PIMathMatrixT_Test, matrixAndVectorMultiplication) { TEST(PIMathMatrixT_Test, matrixAndVectorMultiplication) {
auto matrix1 = PIMathMatrixT<rows, cols, double>(1.5); auto matrix1 = PIMathMatrixT<rows, cols, Type>(1.5);
auto vector = PIMathVectorT<rows, double>(2.5); auto vector = PIMathVectorT<rows, Type>(2.5);
for (uint i = 0; i < 2; i++) { for (uint i = 0; i < 2; i++) {
if ((matrix1 * vector)[i] != 11.25) { if ((matrix1 * vector)[i] != 11.25) {
ASSERT_TRUE(false); EXPECT_TRUE(false);
} }
} }
ASSERT_TRUE(true); EXPECT_TRUE(true);
} }
TEST(PIMathMatrixT_Test, vectorAndMatrixMultiplication) { TEST(PIMathMatrixT_Test, vectorAndMatrixMultiplication) {
auto matrix1 = PIMathMatrixT<rows, cols, double>(1.5); auto matrix1 = PIMathMatrixT<rows, cols, Type>(1.5);
auto vector = PIMathVectorT<rows, double>(2.5); auto vector = PIMathVectorT<rows, Type>(2.5);
for (uint i = 0; i < 2; i++) { for (uint i = 0; i < 2; i++) {
if ((vector * matrix1)[i] != 11.25) { if ((vector * matrix1)[i] != 11.25) {
ASSERT_TRUE(false); EXPECT_TRUE(false);
} }
} }
} }
TEST(PIMathMatrixT_Test, valAndMatrixMultiplication) { TEST(PIMathMatrixT_Test, valAndMatrixMultiplication) {
auto matrix1 = PIMathMatrixT<rows, cols, double>(1.5); auto matrix1 = PIMathMatrixT<rows, cols, Type>(1.5);
ASSERT_TRUE(cmpSquareMatrixWithValue(25.0 * matrix1, 37.5, 3)); EXPECT_TRUE(cmpSquareMatrixWithValue(Type(25.) * matrix1, 37.5, 3));
} }