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/*------------------------------------------------------------------------------
* rtklib unit test driver : matrix and vector functions
*-----------------------------------------------------------------------------*/
#include <stdio.h>
#include <assert.h>
#include "../../src/rtklib.h"
void dbout1(double *x, double *y, double *P, double *H, double *R, int n, int m)
{
printf("x=[\n"); matprint(x,n,1,8,4); printf("];\n");
printf("y=[\n"); matprint(y,m,1,8,4); printf("];\n");
printf("P=[\n"); matprint(P,n,n,8,4); printf("];\n");
printf("H=[\n"); matprint(H,m,n,8,4); printf("];\n");
printf("R=[\n"); matprint(R,m,m,8,4); printf("];\n");
}
void dbout2(double *x, double *P, int n)
{
printf("xu=[\n"); matprint(x,n,1,8,4); printf("];\n");
printf("Pu=[\n"); matprint(P,n,n,8,4); printf("];\n");
printf("K=P*H'/(H*P*H'+R);\n");
printf("xd=x+K*y;\n");
printf("Pd=P-K*H*P\n");
printf("xu-xd,Pu-Pd\n");
}
/* mat(),imat(),zeros(),eye() */
void utest1(void)
{
int i,j,n=100,m=200,*b;
double *a;
a=mat(0,0); assert(a==NULL);
a=mat(0,1); assert(a==NULL);
a=mat(1,0); assert(a==NULL);
a=mat(1,1); assert(a!=NULL);
free(a);
/* a=mat(1000000,1000000); assert(a==NULL); */
a=zeros(0,m); assert(a==NULL);
a=zeros(n,0); assert(a==NULL);
a=zeros(n,m); assert(a!=NULL);
for (i=0;i<n;i++) for (j=0;j<m;j++) assert(a[i+j*n]==0.0);
free(a);
/* a=zeros(10000000,1000000); assert(a==NULL); */
a=eye(0); assert(a==NULL);
a=eye(n); assert(a!=NULL);
for (i=0;i<n;i++) for (j=0;j<n;j++) assert(a[i+j*n]==(i==j?1.0:0.0));
free(a);
/* a=eye(1000000); assert(a==NULL); */
b=imat(0,m); assert(b==NULL);
b=imat(n,0); assert(b==NULL);
b=imat(n,m); assert(b!=NULL);
free(b);
/*
a=imat(1000000,1000000); assert(a==NULL);
*/
printf("%s utest1 : OK\n",__FILE__);
}
/* dot() */
void utest2(void)
{
int i;
double a[]={1.0,2.0,3.0,4.0,5.0,6.0};
double b[]={7.0,8.0,9.0,1.4,1.6,7.8};
double c,d;
for (i=0,d=0.0;i<6;i++) d+=a[i]*b[i];
c=dot(a,b,0); assert(c==0.0);
c=dot(a,b,6); assert(fabs(c-d)<1E-14);
for (i=0,d=0.0;i<6;i++) d+=a[i]*a[i]; d=sqrt(d);
c=norm(a,6); assert(fabs(c-d)<1E-14);
for (i=0,d=0.0;i<6;i++) d+=b[i]*b[i]; d=sqrt(d);
c=norm(b,6); assert(fabs(c-d)<1E-14);
printf("%s utest2 : OK\n",__FILE__);
}
static double A[]={
0.935469699107605, 0.893649530913534,
0.916904439913408, 0.0578913047842686,
0.410270206990945, 0.352868132217
};
static double B[]={
0.813166497303758, 0.13889088195695,
0.00986130066092356, 0.202765218560273
};
static double AB[]={
0.769505165266963, 0.311129254005026,
0.74616685532878, 0.139088009397138,
0.337097725912365, 0.128532174841568
};
static double ABT[]={
0.884812390066127, 0.190425990414052,
0.753636546145776, 0.0207802134266434,
0.382628153265035, 0.0755951818152924
};
static double invB[]={
1.24006142464565, -0.849421938204008,
-0.0603092514252338, 4.97312316323555
};
/* matmul() */
void utest3(void)
{
int i,j;
double C[6];
matmul("TT",3,2,2,1.0,A,B,0.0,C);
for (i=0;i<3;i++) for (j=0;j<2;j++) assert(fabs(C[i+j*3]-AB[j+i*2])<1E-9);
matmul("NN",2,3,2,1.0,B,A,0.0,C);
for (i=0;i<2;i++) for (j=0;j<3;j++) assert(fabs(C[i+j*2]-AB[i+j*2])<1E-9);
matmul("TN",3,2,2,1.0,A,B,0.0,C);
for (i=0;i<3;i++) for (j=0;j<2;j++) assert(fabs(C[i+j*3]-ABT[j+i*2])<1E-9);
matmul("TN",2,3,2,1.0,B,A,0.0,C);
for (i=0;i<2;i++) for (j=0;j<3;j++) assert(fabs(C[i+j*2]-ABT[i+j*2])<1E-9);
printf("%s utest3 : OK\n",__FILE__);
}
/* matinv() */
void utest4(void)
{
int i,j;
double C[4];
memcpy(C,B,sizeof(double)*4);
matinv(B,2);
for (i=0;i<2;i++) for (j=0;j<2;j++) assert(fabs(B[i+j*2]-invB[i+j*2])<1E-9);
matinv(B,2);
for (i=0;i<2;i++) for (j=0;j<2;j++) assert(fabs(B[i+j*2]-C[i+j*2])<1E-9);
printf("%s utest4 : OK\n",__FILE__);
}
static double H[]={
0.123, 0.345, 0.567,
0.890,-0.135, 0.791,
1.020, 2.489, 0.111,
0.321,-1.002, 5.678
};
static double y[]={
0.3456,
1.5678,
0.1047,
0.1047
};
static double xs[]={
1.77586016656388,
-0.64484683008484,
-0.18684144028875
};
static double Qs[]={
1.41343666098904, -0.56122396983116, -0.20536436422033,
-0.56122396983117, 0.37710272892140, 0.10628198948746,
-0.20536436422033, 0.10628198948746, 0.06392702788446
};
/* lsq() */
void utest5(void)
{
int i;
double x[3],Q[9];
lsq(H,y,3,4,x,Q);
for (i=0;i<3;i++) assert(fabs(x[i]-xs[i])<1E-9);
for (i=0;i<9;i++) assert(fabs(Q[i]-Qs[i])<1E-9);
printf("%s utest5 : OK\n",__FILE__);
}
/* matcpy() */
void utest6(void)
{
double *a=mat(100,200),*b=zeros(100,200),c=0.0;
int i,j;
for (i=0;i<100;i++) {
for (j=0;j<200;j++) {
a[i+j*100]=(c+=1.0);
}
}
matcpy(b,a,100,200);
for (i=0,c=0.0;i<100;i++) {
for (j=0;j<200;j++) {
assert(a[i+j*100]==b[i+j*100]);
}
}
free(a); free(b);
}
int main(void)
{
utest1();
utest2();
utest3();
utest4();
utest5();
utest6();
return 0;
}
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