320 lines
7.9 KiB
C
320 lines
7.9 KiB
C
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/* Copyright 2018 The Chromium OS Authors. All rights reserved.
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* Use of this source code is governed by a BSD-style license that can be
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* found in the LICENSE file.
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*/
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/*
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* Explicitly include common.h to populate predefined macros in test_config.h
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* early. e.g. CONFIG_FPU, which is needed in math_util.h
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*/
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#include "common.h"
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#include "mat33.h"
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#include "mat44.h"
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#include "math_util.h"
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#include "test_util.h"
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#include "vec3.h"
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#if defined(TEST_FP) && !defined(CONFIG_FPU)
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#define NORM_TOLERANCE FLOAT_TO_FP(0.01f)
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#define NORM_SQUARED_TOLERANCE FLOAT_TO_FP(0.0f)
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#define DOT_TOLERANCE FLOAT_TO_FP(0.001f)
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#define SCALAR_MUL_TOLERANCE FLOAT_TO_FP(0.005f)
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#define EIGENBASIS_TOLERANCE FLOAT_TO_FP(0.03f)
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#define LUP_TOLERANCE FLOAT_TO_FP(0.0005f)
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#define SOLVE_TOLERANCE FLOAT_TO_FP(0.0005f)
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#elif defined(TEST_FLOAT) && defined(CONFIG_FPU)
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#define NORM_TOLERANCE FLOAT_TO_FP(0.0f)
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#define NORM_SQUARED_TOLERANCE FLOAT_TO_FP(0.0f)
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#define DOT_TOLERANCE FLOAT_TO_FP(0.0f)
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#define SCALAR_MUL_TOLERANCE FLOAT_TO_FP(0.005f)
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#define EIGENBASIS_TOLERANCE FLOAT_TO_FP(0.02f)
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#define LUP_TOLERANCE FLOAT_TO_FP(0.0f)
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#define SOLVE_TOLERANCE FLOAT_TO_FP(0.0f)
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#else
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#error "No such test configuration."
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#endif
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#define IS_FPV3_VECTOR_EQUAL(a, b, diff) \
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(IS_FP_EQUAL((a)[0], (b)[0], (diff)) && \
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IS_FP_EQUAL((a)[1], (b)[1], (diff)) && \
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IS_FP_EQUAL((a)[2], (b)[2], (diff)))
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#define IS_FP_EQUAL(a, b, diff) ((a) >= ((b)-diff) && (a) <= ((b) + diff))
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#define IS_FLOAT_EQUAL(a, b, diff) IS_FP_EQUAL(a, b, diff)
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static int test_fpv3_scalar_mul(void)
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{
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const int N = 3;
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const float s = 2.0f;
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floatv3_t r = {1.0f, 2.0f, 4.0f};
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/* Golden result g = s * r; */
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const floatv3_t g = {2.0f, 4.0f, 8.0f};
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int i;
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fpv3_t a;
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for (i = 0; i < N; ++i)
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a[i] = FLOAT_TO_FP(r[i]);
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fpv3_scalar_mul(a, FLOAT_TO_FP(s));
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for (i = 0; i < N; ++i)
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TEST_ASSERT(IS_FP_EQUAL(a[i], FLOAT_TO_FP(g[i]), 0));
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return EC_SUCCESS;
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}
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static int test_fpv3_dot(void)
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{
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const int N = 3;
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int i;
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floatv3_t a = {1.8f, 2.12f, 4.12f};
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floatv3_t b = {3.1f, 4.3f, 5.8f};
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/* Golden result g = dot(a, b) */
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float g = 38.592f;
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fpv3_t fpa, fpb;
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for (i = 0; i < N; ++i) {
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fpa[i] = FLOAT_TO_FP(a[i]);
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fpb[i] = FLOAT_TO_FP(b[i]);
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}
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TEST_ASSERT(IS_FP_EQUAL(fpv3_dot(fpa, fpb), FLOAT_TO_FP(g),
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DOT_TOLERANCE));
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return EC_SUCCESS;
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}
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static int test_fpv3_norm_squared(void)
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{
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const int N = 3;
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int i;
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floatv3_t a = {3.0f, 4.0f, 5.0f};
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/* Golden result g = norm_squared(a) */
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float g = 50.0f;
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fpv3_t fpa;
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for (i = 0; i < N; ++i)
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fpa[i] = FLOAT_TO_FP(a[i]);
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TEST_ASSERT(IS_FP_EQUAL(fpv3_norm_squared(fpa), FLOAT_TO_FP(g),
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NORM_SQUARED_TOLERANCE));
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return EC_SUCCESS;
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}
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static int test_fpv3_norm(void)
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{
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const int N = 3;
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floatv3_t a = {3.1f, 4.2f, 5.3f};
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/* Golden result g = norm(a) */
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float g = 7.439085483551025390625f;
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int i;
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fpv3_t fpa;
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for (i = 0; i < N; ++i)
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fpa[i] = FLOAT_TO_FP(a[i]);
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TEST_ASSERT(
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IS_FP_EQUAL(fpv3_norm(fpa), FLOAT_TO_FP(g), NORM_TOLERANCE));
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return EC_SUCCESS;
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}
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static int test_mat33_fp_init_zero(void)
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{
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const int N = 3;
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int i, j;
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mat33_fp_t a;
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for (i = 0; i < N; ++i)
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for (j = 0; j < N; ++j)
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a[i][j] = FLOAT_TO_FP(55.66f);
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mat33_fp_init_zero(a);
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for (i = 0; i < N; ++i)
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for (j = 0; j < N; ++j)
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TEST_ASSERT(a[i][j] == FLOAT_TO_FP(0.0f));
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return EC_SUCCESS;
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}
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static int test_mat33_fp_init_diagonal(void)
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{
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const int N = 3;
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int i, j;
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mat33_fp_t a;
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fp_t v = FLOAT_TO_FP(-3.45f);
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for (i = 0; i < N; ++i)
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for (j = 0; j < N; ++j)
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a[i][j] = FLOAT_TO_FP(55.66f);
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mat33_fp_init_diagonal(a, v);
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for (i = 0; i < N; ++i)
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for (j = 0; j < N; ++j) {
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if (i == j)
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TEST_ASSERT(a[i][j] == v);
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else
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TEST_ASSERT(a[i][j] == FLOAT_TO_FP(0.0f));
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}
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return EC_SUCCESS;
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}
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static int test_mat33_fp_scalar_mul(void)
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{
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const int N = 3;
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float scale = 3.11f;
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mat33_float_t a = {
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{1.0f, 2.0f, 3.0f},
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{1.1f, 2.2f, 3.3f},
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{0.38f, 13.2f, 88.3f}
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};
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/* Golden result g = scalar_mul(a, scale) */
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mat33_float_t g = {{3.11f, 6.22f, 9.33f},
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{3.421f, 6.842f, 10.263f},
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{1.18179988861083984375f, 41.051998138427734375f,
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274.613006591796875f}
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};
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int i, j;
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mat33_fp_t fpa;
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for (i = 0; i < N; ++i)
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for (j = 0; j < N; ++j)
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fpa[i][j] = FLOAT_TO_FP(a[i][j]);
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mat33_fp_scalar_mul(fpa, FLOAT_TO_FP(scale));
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for (i = 0; i < N; ++i)
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for (j = 0; j < N; ++j)
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TEST_ASSERT(IS_FP_EQUAL(fpa[i][j], FLOAT_TO_FP(g[i][j]),
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SCALAR_MUL_TOLERANCE));
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return EC_SUCCESS;
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}
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static int test_mat33_fp_get_eigenbasis(void)
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{
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mat33_fp_t s = {
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{FLOAT_TO_FP(4.0f), FLOAT_TO_FP(2.0f), FLOAT_TO_FP(2.0f)},
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{FLOAT_TO_FP(2.0f), FLOAT_TO_FP(4.0f), FLOAT_TO_FP(2.0f)},
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{FLOAT_TO_FP(2.0f), FLOAT_TO_FP(2.0f), FLOAT_TO_FP(4.0f)}
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};
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fpv3_t e_vals;
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mat33_fp_t e_vecs;
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int i, j;
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/* Golden result from float version. */
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mat33_fp_t gold_vecs = {
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{FLOAT_TO_FP(0.55735206f), FLOAT_TO_FP(0.55735206f),
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FLOAT_TO_FP(0.55735206f)},
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{FLOAT_TO_FP(0.70710677f), FLOAT_TO_FP(-0.70710677f),
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FLOAT_TO_FP(0.0f)},
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{FLOAT_TO_FP(-0.40824828f), FLOAT_TO_FP(-0.40824828f),
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FLOAT_TO_FP(0.81649655f)}
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};
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fpv3_t gold_vals = {FLOAT_TO_FP(8.0f), FLOAT_TO_FP(2.0f),
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FLOAT_TO_FP(2.0f)};
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mat33_fp_get_eigenbasis(s, e_vals, e_vecs);
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for (i = 0; i < 3; ++i) {
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TEST_ASSERT(IS_FP_EQUAL(gold_vals[i], e_vals[i],
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EIGENBASIS_TOLERANCE));
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for (j = 0; j < 3; ++j) {
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TEST_ASSERT(IS_FP_EQUAL(gold_vecs[i][j], e_vecs[i][j],
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EIGENBASIS_TOLERANCE));
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}
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}
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return EC_SUCCESS;
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}
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static int test_mat44_fp_decompose_lup(void)
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{
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int i, j;
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sizev4_t pivot;
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mat44_fp_t fpa = {
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{FLOAT_TO_FP(11.0f), FLOAT_TO_FP(9.0f),
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FLOAT_TO_FP(24.0f), FLOAT_TO_FP(2.0f)},
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{FLOAT_TO_FP(1.0f), FLOAT_TO_FP(5.0f),
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FLOAT_TO_FP(2.0f), FLOAT_TO_FP(6.0f)},
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{FLOAT_TO_FP(3.0f), FLOAT_TO_FP(17.0f),
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FLOAT_TO_FP(18.0f), FLOAT_TO_FP(1.0f)},
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{FLOAT_TO_FP(2.0f), FLOAT_TO_FP(5.0f),
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FLOAT_TO_FP(7.0f), FLOAT_TO_FP(1.0f)}
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};
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/* Golden result from float version. */
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mat44_fp_t gold_lu = {
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{FLOAT_TO_FP(11.0f), FLOAT_TO_FP(0.8181818f),
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FLOAT_TO_FP(2.1818182f), FLOAT_TO_FP(0.18181819f)},
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{FLOAT_TO_FP(3.0f), FLOAT_TO_FP(14.545454),
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FLOAT_TO_FP(0.7875f), FLOAT_TO_FP(0.03125f)},
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{FLOAT_TO_FP(1.0f), FLOAT_TO_FP(4.181818f),
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FLOAT_TO_FP(-3.4750001f), FLOAT_TO_FP(-1.6366906f)},
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{FLOAT_TO_FP(2.0f), FLOAT_TO_FP(3.3636365f),
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FLOAT_TO_FP(-0.012500286f), FLOAT_TO_FP(0.5107909f)}
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};
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sizev4_t gold_pivot = {0, 2, 2, 3};
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mat44_fp_decompose_lup(fpa, pivot);
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for (i = 0; i < 4; ++i) {
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TEST_ASSERT(gold_pivot[i] == pivot[i]);
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for (j = 0; j < 4; ++j)
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TEST_ASSERT(IS_FP_EQUAL(gold_lu[i][j], fpa[i][j],
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LUP_TOLERANCE));
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}
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return EC_SUCCESS;
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}
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static int test_mat44_fp_solve(void)
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{
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int i;
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fpv4_t x;
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mat44_fp_t A = {
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{FLOAT_TO_FP(11.0f), FLOAT_TO_FP(0.8181818f),
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FLOAT_TO_FP(2.1818182f), FLOAT_TO_FP(0.18181819f)},
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{FLOAT_TO_FP(3.0f), FLOAT_TO_FP(14.545454),
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FLOAT_TO_FP(0.7875f), FLOAT_TO_FP(0.03125f)},
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{FLOAT_TO_FP(1.0f), FLOAT_TO_FP(4.181818f),
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FLOAT_TO_FP(-3.4750001f), FLOAT_TO_FP(-1.6366906f)},
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{FLOAT_TO_FP(2.0f), FLOAT_TO_FP(3.3636365f),
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FLOAT_TO_FP(-0.012500286f), FLOAT_TO_FP(0.5107909f)}
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};
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sizev4_t pivot = {0, 2, 2, 3};
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fpv4_t b = {FLOAT_TO_FP(1.0f), FLOAT_TO_FP(3.3f), FLOAT_TO_FP(0.8f),
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FLOAT_TO_FP(8.9f)};
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/* Golden result from float version. */
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fpv4_t gold_x = {FLOAT_TO_FP(-43.50743f), FLOAT_TO_FP(-21.459526f),
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FLOAT_TO_FP(26.629248f), FLOAT_TO_FP(16.80776f)};
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mat44_fp_solve(A, x, b, pivot);
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for (i = 0; i < 4; ++i)
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TEST_ASSERT(IS_FP_EQUAL(gold_x[i], x[i], SOLVE_TOLERANCE));
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return EC_SUCCESS;
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}
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void run_test(void)
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{
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test_reset();
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RUN_TEST(test_fpv3_scalar_mul);
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RUN_TEST(test_fpv3_dot);
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RUN_TEST(test_fpv3_norm_squared);
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RUN_TEST(test_fpv3_norm);
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RUN_TEST(test_mat33_fp_init_zero);
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RUN_TEST(test_mat33_fp_init_diagonal);
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RUN_TEST(test_mat33_fp_scalar_mul);
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RUN_TEST(test_mat33_fp_get_eigenbasis);
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RUN_TEST(test_mat44_fp_decompose_lup);
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RUN_TEST(test_mat44_fp_solve);
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test_print_result();
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}
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