TestSquareMatrix3.h

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/*
 * Copyright (c) Meta Platforms, Inc. and affiliates.
 *
 * This source code is licensed under the MIT license found in the
 * LICENSE file in the root directory of this source tree.
 */
 
#ifndef META_OCEAN_TEST_TESTMATH_TEST_SQUARE_MATRIX_3_H
#define META_OCEAN_TEST_TESTMATH_TEST_SQUARE_MATRIX_3_H
 
#include "ocean/test/testmath/TestMath.h"
 
#include "ocean/base/Worker.h"
 
#include "ocean/math/SquareMatrix4.h"
#include "ocean/math/Vector4.h"
 
namespace Ocean
{
 
namespace Test
{
 
namespace TestMath
{
 
/**
 * This class implements a test for 3x3 square matrices.
 * @ingroup testmath
 */
class OCEAN_TEST_MATH_EXPORT TestSquareMatrix3
{
    public:
 
        /**
         * Tests all square matrix 3x3 functions.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @param worker The worker object allowing to distribute computations
         * @return True, if succeeded
         */
        static bool test(const double testDuration, Worker& worker);
 
        /**
         * Tests the messenger function.
         * @return True, if succeeded
         */
        static bool testWriteToMessenger();
 
        /**
         * Tests the element-based constructor.
         * @param testDuration The number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testElementConstructor(const double testDuration);
 
        /**
         * Tests the quaternion-based constructor.
         * @param testDuration The number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         * @tparam T The data type of a scalar values
         */
        template <typename T>
        static bool testQuaternionConstructor(const double testDuration);
 
        /**
         * Tests the 2D vector multiplication operator and function.
         * @param testDuration The number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         * @tparam T The data type of a scalar value
         */
        template <typename T>
        static bool testVectorMultiplication2(const double testDuration);
 
        /**
         * Tests the 3D vector multiplication operator.
         * @param testDuration The number of seconds for each test, with range (0, infinity)
         * @param worker The worker object allowing to distribute computations
         * @return True, if succeeded
         * @tparam T The data type of a scalar value
         */
        template <typename T>
        static bool testVectorMultiplication3(const double testDuration, Worker& worker);
 
        /**
         * Tests the invert functions.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testInvert(const double testDuration);
 
        /**
         * Tests the matrix conversion functions.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if succeeded
         */
        static bool testMatrixConversion(const double testDuration);
 
        /**
         * Test for solver of linear systems of equations.
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if the test was successful
         */
        static bool testSolve(const double testDuration);
    
    protected:
    
        /**
         * Standard implementation of a multiplication between a 4x4 matrix and a 4x1 vector.
         * @param matrix The matrix to be used for multiplication
         * @param vector The vector to be used for multiplication
         * @return The multiplication result
         * @tparam T The data type of the elements
         */
        template <typename T>
        static OCEAN_FORCE_INLINE VectorT3<T> standardVectorMultiplication(const SquareMatrixT3<T>& matrix, const VectorT3<T>& vector);
 
        /**
         * Test for solver of linear systems of equations.
         * @param containsSignular True, to create test data containing singular matrices
         * @param testDuration Number of seconds for each test, with range (0, infinity)
         * @return True, if the test was successful
         */
        static bool testSolve(const bool containsSignular, const double testDuration);
 
        /**
         * Gauss algorithm for 3x3 systems of linear equations, Ax = b.
         * @param A The coefficients matrix
         * @param b The right-hand side vector
         * @param x The solution vector
         * @return True if a solution has been found; False, otherwise (e.g. when A is singular)
         * @tparam T Data type, can be either float or double
         */
        template <typename T>
        static bool solveGauss(const SquareMatrixT3<T>& A, const VectorT3<T>& b, VectorT3<T>& x);
};
 
template <typename T>
OCEAN_FORCE_INLINE VectorT3<T> TestSquareMatrix3::standardVectorMultiplication(const SquareMatrixT3<T>& matrix, const VectorT3<T>& vector)
{
    return VectorT3<T>(matrix[0] * vector[0] + matrix[3] * vector[1] + matrix[6] * vector[2],
                        matrix[1] * vector[0] + matrix[4] * vector[1] + matrix[7] * vector[2],
                        matrix[2] * vector[0] + matrix[5] * vector[1] + matrix[8] * vector[2]);
}
 
}
 
}
 
}
 
#endif // META_OCEAN_TEST_TESTMATH_TEST_SQUARE_MATRIX_3_H