MatrixTests.cpp File Reference

Tests that exercise the functionality of our matrix typedefs, which come straight from Eigen. More...

#include <math.h>
#include <Eigen/Geometry>
#include <gtest/gtest.h>
#include "SurgSim/Math/MathConvert.h"
#include "SurgSim/Math/Matrix.h"

Classes
class	MatrixTestBase< T >
class	Matrix22Tests< T >
class	Matrix33Tests< T >
class	Matrix44Tests< T >
class	AllMatrixTests< T >
class	AllDynamicMatrixTests< T >
class	UnalignedMatrixTests< T >
class	UnalignedDynamicMatrixTests< T >

Typedefs
typedef ::testing::Types< SurgSim::Math::Matrix22d, SurgSim::Math::Matrix22f >	Matrix22Variants
typedef ::testing::Types< SurgSim::Math::Matrix33d, SurgSim::Math::Matrix33f >	Matrix33Variants
typedef ::testing::Types< SurgSim::Math::Matrix44d, SurgSim::Math::Matrix44f >	Matrix44Variants
typedef ::testing::Types< SurgSim::Math::Matrix22d, SurgSim::Math::Matrix22f, SurgSim::Math::Matrix33d, SurgSim::Math::Matrix33f, SurgSim::Math::Matrix44d, SurgSim::Math::Matrix44f >	AllMatrixVariants
typedef ::testing::Types< Eigen::MatrixXd, Eigen::MatrixXf, SurgSim::Math::Matrix >	AllDynamicMatrixVariants
typedef ::testing::Types< SurgSim::Math::Matrix22d, SurgSim::Math::Matrix22f, SurgSim::Math::Matrix33d, SurgSim::Math::Matrix33f, SurgSim::Math::Matrix44d, SurgSim::Math::Matrix44f >	UnalignedMatrixVariants
typedef ::testing::Types< Eigen::MatrixXd, Eigen::MatrixXf, SurgSim::Math::Matrix >	UnalignedDynamicMatrixVariants

Functions
	TYPED_TEST_CASE (Matrix22Tests, Matrix22Variants)
	TYPED_TEST_CASE (Matrix33Tests, Matrix33Variants)
	TYPED_TEST_CASE (Matrix44Tests, Matrix44Variants)
	TYPED_TEST_CASE (AllMatrixTests, AllMatrixVariants)
	TYPED_TEST_CASE (AllDynamicMatrixTests, AllDynamicMatrixVariants)
	TYPED_TEST_CASE (UnalignedMatrixTests, UnalignedMatrixVariants)
	TYPED_TEST_CASE (UnalignedDynamicMatrixTests, UnalignedDynamicMatrixVariants)
	TYPED_TEST (Matrix22Tests, CanConstruct)
	Test that matrices can be constructed.
	TYPED_TEST (Matrix33Tests, CanConstruct)
	Test that matrices can be constructed.
	TYPED_TEST (Matrix44Tests, CanConstruct)
	Test that matrices can be constructed.
	TYPED_TEST (UnalignedMatrixTests, DefaultConstructorInitialization)
	Test that the default constructor DOESN'T initialize matrices.
	TYPED_TEST (Matrix22Tests, ShiftCommaInitialization)
	Test setting the matrix using the << syntax.
	TYPED_TEST (Matrix33Tests, ShiftCommaInitialization)
	Test setting the matrix using the << syntax.
	TYPED_TEST (Matrix44Tests, ShiftCommaInitialization)
	Test setting the matrix using the << syntax.
	TYPED_TEST (AllMatrixTests, ZeroValue)
	Test getting a zero value usable in expressions.
	TYPED_TEST (AllMatrixTests, SetToZero)
	Test setting matrices to 0.
	TYPED_TEST (AllMatrixTests, ConstantValue)
	Test getting a constant value usable in expressions.
	TYPED_TEST (AllMatrixTests, SetToConstant)
	Test setting matrices to a constant.
	TYPED_TEST (AllMatrixTests, InitializeRowMajorFromArray)
	Test initializing a row-major Eigen matrix from a float array.
	TYPED_TEST (AllMatrixTests, InitializeColumnMajorFromArray)
	Test initializing a column-major Eigen matrix from a float array.
	TYPED_TEST (AllMatrixTests, InitializeFromArray)
	Test initializing from a float array. More...
	TYPED_TEST (AllMatrixTests, YamlConvert)
	TYPED_TEST (AllMatrixTests, Assign)
	Test assignment.
	TYPED_TEST (AllMatrixTests, RowsAndColumns)
	Access by rows and columns.
	TYPED_TEST (AllMatrixTests, Diagonal)
	Access to the diagonal.
	TYPED_TEST (Matrix33Tests, FromAngleAxis)
	Test setting quaternions from an angle/axis rotation.
	TYPED_TEST (Matrix33Tests, ToAngleAxis)
	Test extracting an angle/axis rotation from a quaternion.
	TYPED_TEST (Matrix33Tests, MakeSkewSymmetricMatrixTest)
	Test building a skew symmetric matrix from a vector.
	TYPED_TEST (Matrix33Tests, SkewTest)
	Test extracting a vector from a skew symmetric part of a matrix.
	TYPED_TEST (AllMatrixTests, Negate)
	Negation (unary minus).
	TYPED_TEST (AllMatrixTests, Add)
	Addition.
	TYPED_TEST (AllMatrixTests, Subtract)
	Subtraction.
	TYPED_TEST (AllMatrixTests, AddTo)
	Incrementing by a value.
	TYPED_TEST (AllMatrixTests, SubtractFrom)
	Decrementing by a value.
	TYPED_TEST (AllMatrixTests, MultiplyMatrixScalar)
	Matrix-scalar multiplication.
	TYPED_TEST (AllMatrixTests, MultiplyScalarMatrix)
	Scalar-matrix multiplication.
	TYPED_TEST (AllMatrixTests, DivideScalar)
	Division by scalar.
	TYPED_TEST (AllMatrixTests, MultiplyMatrixVector)
	Matrix-vector multiplication.
	TYPED_TEST (AllMatrixTests, MultiplyMatrixMatrix)
	Matrix-matrix multiplication.
	TYPED_TEST (AllMatrixTests, Inverse)
	Matrix inverse.
	TYPED_TEST (AllMatrixTests, Transpose)
	Matrix transpose.
	TYPED_TEST (AllMatrixTests, ComponentwiseMultiply)
	Component-wise multiplication.
	TYPED_TEST (AllMatrixTests, ComponentwiseDivide)
	Component-wise division.
	TYPED_TEST (AllMatrixTests, FrobeniusNorm)
	Frobenius norm and its square.
	TYPED_TEST (AllMatrixTests, L1NormAndLInfNorm)
	L1 (Manhattan) norm and L_Infinity (largest absolute value) norm.
	TYPED_TEST (AllMatrixTests, MinAndMax)
	Minimum and maximum elements.
	TYPED_TEST (AllMatrixTests, Trace)
	Trace.
	TYPED_TEST (AllMatrixTests, Determinant)
	Determinant.
	TYPED_TEST (Matrix22Tests, Determinant22)
	Determinant (explicit 2x2 result).
	TYPED_TEST (Matrix33Tests, Determinant33)
	Determinant (explicit 3x3 result).
	TYPED_TEST (Matrix22Tests, Extend2to3)
	Extending matrices using the block<r,c>() syntax.
	TYPED_TEST (Matrix22Tests, DynamicExtend2to3)
	Extending matrices using the block(i,j,r,c) syntax.
	TYPED_TEST (Matrix22Tests, Shrink3to2)
	Shrinking matrices using the block<r,c>() syntax.
	TYPED_TEST (Matrix33Tests, Extend2to3)
	Extending matrices using the block<r,c>() syntax.
	TYPED_TEST (Matrix33Tests, Shrink3to2)
	Shrinking matrices using the block<r,c>() syntax.
	TYPED_TEST (Matrix33Tests, Extend3to4)
	Extending matrices using the block<r,c>() syntax.
	TYPED_TEST (Matrix33Tests, Shrink4to3)
	Shrinking matrices using the block<r,c>() syntax.
	TYPED_TEST (Matrix44Tests, Extend3to4)
	Extending matrices using the block<r,c>() syntax.
	TYPED_TEST (Matrix44Tests, Shrink4to3)
	Shrinking matrices using the block<r,c>() syntax.
	TYPED_TEST (AllMatrixTests, TypeCasting)
	Typecasting matrices (double <-> float conversions).
	TYPED_TEST (AllMatrixTests, ArrayReadWrite)
	Reading from and writing to arrays or blocks of double/float in memory.
	TYPED_TEST (AllDynamicMatrixTests, addSubMatrix)
	TYPED_TEST (AllDynamicMatrixTests, addSubMatrixBlocks)
	TYPED_TEST (AllDynamicMatrixTests, setSubMatrix)
	TYPED_TEST (AllDynamicMatrixTests, getSubMatrix)

Detailed Description

Tests that exercise the functionality of our matrix typedefs, which come straight from Eigen.

Function Documentation

TYPED_TEST()

TYPED_TEST	(	AllMatrixTests	,
		InitializeFromArray
	)

Test initializing from a float array.

Among other things, tests that our matrices are row-major.