ViSP  2.8.0
testMatrix.cpp

Test some vpMatrix functionalities.

/****************************************************************************
*
* $Id: testMatrix.cpp 4056 2013-01-05 13:04:42Z fspindle $
*
* This file is part of the ViSP software.
* Copyright (C) 2005 - 2013 by INRIA. All rights reserved.
*
* This software is free software; you can redistribute it and/or
* modify it under the terms of the GNU General Public License
* ("GPL") version 2 as published by the Free Software Foundation.
* See the file LICENSE.txt at the root directory of this source
* distribution for additional information about the GNU GPL.
*
* For using ViSP with software that can not be combined with the GNU
* GPL, please contact INRIA about acquiring a ViSP Professional
* Edition License.
*
* See http://www.irisa.fr/lagadic/visp/visp.html for more information.
*
* This software was developed at:
* INRIA Rennes - Bretagne Atlantique
* Campus Universitaire de Beaulieu
* 35042 Rennes Cedex
* France
* http://www.irisa.fr/lagadic
*
* If you have questions regarding the use of this file, please contact
* INRIA at visp@inria.fr
*
* This file is provided AS IS with NO WARRANTY OF ANY KIND, INCLUDING THE
* WARRANTY OF DESIGN, MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE.
*
*
* Description:
* Test some vpMatrix functionalities.
*
* Authors:
* Fabien Spindler
*
*****************************************************************************/
#include <visp/vpConfig.h>
#include <visp/vpDebug.h>
#include <visp/vpMath.h>
#include <visp/vpHomogeneousMatrix.h>
#include <visp/vpVelocityTwistMatrix.h>
#include <visp/vpParseArgv.h>
#include <visp/vpGEMM.h>
#include <stdlib.h>
#include <stdio.h>
// List of allowed command line options
#define GETOPTARGS "h"
void usage(const char *name, const char *badparam)
{
fprintf(stdout, "\n\
Test some vpMatrix functionalities.\n\
\n\
SYNOPSIS\n\
%s [-h]\n", name);
fprintf(stdout, "\n\
OPTIONS: Default\n\
-h\n\
Print the help.\n");
if (badparam)
fprintf(stdout, "\nERROR: Bad parameter [%s]\n", badparam);
}
bool getOptions(int argc, const char **argv)
{
const char *optarg;
int c;
while ((c = vpParseArgv::parse(argc, argv, GETOPTARGS, &optarg)) > 1) {
switch (c) {
case 'h': usage(argv[0], NULL); return false; break;
default:
usage(argv[0], optarg);
return false; break;
}
}
if ((c == 1) || (c == -1)) {
// standalone param or error
usage(argv[0], NULL);
std::cerr << "ERROR: " << std::endl;
std::cerr << " Bad argument " << optarg << std::endl << std::endl;
return false;
}
return true;
}
int
main(int argc, const char ** argv)
{
// Read the command line options
if (getOptions(argc, argv) == false) {
exit (-1);
}
vpTRACE("------------------------");
vpTRACE("--- TEST PRETTY PRINT---");
vpTRACE("------------------------");
M.eye(4);
vpTRACE("call std::cout << M;");
std::cout << M << std::endl;
vpTRACE("call M.print (std::cout, 4);");
M.print (std::cout, 4);
vpTRACE("------------------------");
M.resize(3,3) ;
M.eye(3);
M[1][0]=1.235;
M[1][1]=12.345;
M[1][2]=.12345;
vpTRACE("call std::cout << M;");
std::cout << M;
vpTRACE("call M.print (std::cout, 6);");
M.print (std::cout, 6);
vpTRACE("------------------------");
M[0][0]=-1.235;
M[1][0]=-12.235;
vpTRACE("call std::cout << M;");
std::cout << M;
vpTRACE("call M.print (std::cout, 10);");
M.print (std::cout, 10);
vpTRACE("call M.print (std::cout, 2);");
M.print (std::cout, 2);
vpTRACE("------------------------");
M.resize(3,3) ;
M.eye(3);
M[0][2]=-0.0000000876;
vpTRACE("call std::cout << M;");
std::cout << M;
vpTRACE("call M.print (std::cout, 4);");
M.print (std::cout, 4);
vpTRACE("call M.print (std::cout, 10, \"M\");");
M.print (std::cout, 10, "M");
vpTRACE("call M.print (std::cout, 20, \"M\");");
M.print (std::cout, 20, "M");
vpTRACE("------------------------");
vpTRACE("--- TEST RESIZE --------");
vpTRACE("------------------------");
vpCTRACE << "5x5" << std::endl;
M.resize(5,5,false);
vpCTRACE << std::endl<< M;
vpCTRACE << "3x2" << std::endl;
M.resize(3,2,false);
vpCTRACE <<std::endl<< M;
vpCTRACE << "2x2" << std::endl;
M.resize(2,2,false);
vpCTRACE << std::endl<<M;
vpTRACE("------------------------");
vpMatrix A(1,6),B;
A=1.0;
//vMe=1.0;
B=A*vMe;
vpTRACE("------------------------");
vpTRACE("--- TEST vpRowVector * vpColVector");
vpTRACE("------------------------");
r[0] = 2;
r[1] = 3;
r[2] = 4;
c[0] = 1;
c[1] = 2;
c[2] = -1;
double rc = r * c;
r.print(std::cout, 2, "r");
c.print(std::cout, 2, "c");
std::cout << "r * c = " << rc << std::endl;
vpTRACE("------------------------");
vpTRACE("--- TEST vpRowVector * vpMatrix");
vpTRACE("------------------------");
M.resize(3,3) ;
M.eye(3);
M[1][0] = 1.5;
M[2][0] = 2.3;
vpRowVector rM = r * M;
r.print(std::cout, 2, "r");
M.print(std::cout, 10, "M");
std::cout << "r * M = " << rM << std::endl;
vpTRACE("------------------------");
vpTRACE("--- TEST vpGEMM ");
vpTRACE("------------------------");
M.resize(3,3) ;
M.eye(3);
vpMatrix N(3, 3);
N[0][0] = 2;
N[1][0] = 1.2;
N[1][2] = 0.6;
N[2][2] = 0.25;
vpMatrix C(3, 3);
C.eye(3);
//realise the operation D = 2 * M^T * N + 3 C
vpGEMM(M, N, 2, C, 3, D, VP_GEMM_A_T);
std::cout << D << std::endl;
}