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-rw-r--r--test/fp.c340
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diff --git a/test/fp.c b/test/fp.c
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-/* Copyright 2018 The Chromium OS Authors. All rights reserved.
- * Use of this source code is governed by a BSD-style license that can be
- * found in the LICENSE file.
- */
-
-/*
- * Explicitly include common.h to populate predefined macros in test_config.h
- * early. e.g. CONFIG_FPU, which is needed in math_util.h
- */
-#include "common.h"
-
-#include "mat33.h"
-#include "mat44.h"
-#include "math_util.h"
-#include "test_util.h"
-#include "vec3.h"
-
-#if defined(TEST_FP) && !defined(CONFIG_FPU)
-#define NORM_TOLERANCE FLOAT_TO_FP(0.01f)
-#define NORM_SQUARED_TOLERANCE FLOAT_TO_FP(0.0f)
-#define DOT_TOLERANCE FLOAT_TO_FP(0.001f)
-#define SCALAR_MUL_TOLERANCE FLOAT_TO_FP(0.005f)
-#define EIGENBASIS_TOLERANCE FLOAT_TO_FP(0.03f)
-#define LUP_TOLERANCE FLOAT_TO_FP(0.0005f)
-#define SOLVE_TOLERANCE FLOAT_TO_FP(0.0005f)
-#elif defined(TEST_FLOAT) && defined(CONFIG_FPU)
-#define NORM_TOLERANCE FLOAT_TO_FP(0.00001f)
-#define NORM_SQUARED_TOLERANCE FLOAT_TO_FP(0.0f)
-#define DOT_TOLERANCE FLOAT_TO_FP(0.0f)
-#define SCALAR_MUL_TOLERANCE FLOAT_TO_FP(0.005f)
-#define EIGENBASIS_TOLERANCE FLOAT_TO_FP(0.02f)
-#define LUP_TOLERANCE FLOAT_TO_FP(0.00001f)
-#define SOLVE_TOLERANCE FLOAT_TO_FP(0.00001f)
-#else
-#error "No such test configuration."
-#endif
-
-#define IS_FPV3_VECTOR_EQUAL(a, b, diff) \
- (IS_FP_EQUAL((a)[0], (b)[0], (diff)) && \
- IS_FP_EQUAL((a)[1], (b)[1], (diff)) && \
- IS_FP_EQUAL((a)[2], (b)[2], (diff)))
-#define IS_FP_EQUAL(a, b, diff) ((a) >= ((b)-diff) && (a) <= ((b) + diff))
-#define IS_FLOAT_EQUAL(a, b, diff) IS_FP_EQUAL(a, b, diff)
-
-static int test_fpv3_scalar_mul(void)
-{
- const int N = 3;
- const float s = 2.0f;
- floatv3_t r = {1.0f, 2.0f, 4.0f};
- /* Golden result g = s * r; */
- const floatv3_t g = {2.0f, 4.0f, 8.0f};
- int i;
- fpv3_t a;
-
- for (i = 0; i < N; ++i)
- a[i] = FLOAT_TO_FP(r[i]);
-
- fpv3_scalar_mul(a, FLOAT_TO_FP(s));
-
- for (i = 0; i < N; ++i)
- TEST_ASSERT(IS_FP_EQUAL(a[i], FLOAT_TO_FP(g[i]), 0));
-
- return EC_SUCCESS;
-}
-
-static int test_fpv3_dot(void)
-{
- const int N = 3;
- int i;
- floatv3_t a = {1.8f, 2.12f, 4.12f};
- floatv3_t b = {3.1f, 4.3f, 5.8f};
- /* Golden result g = dot(a, b) */
- float g = 38.592f;
- fpv3_t fpa, fpb;
- volatile fp_t result;
-
- for (i = 0; i < N; ++i) {
- fpa[i] = FLOAT_TO_FP(a[i]);
- fpb[i] = FLOAT_TO_FP(b[i]);
- }
-
- result = fpv3_dot(fpa, fpb);
- TEST_ASSERT(IS_FP_EQUAL(result, FLOAT_TO_FP(g),
- DOT_TOLERANCE));
-
- return EC_SUCCESS;
-}
-
-static int test_fpv3_norm_squared(void)
-{
- const int N = 3;
- int i;
- floatv3_t a = {3.0f, 4.0f, 5.0f};
- /* Golden result g = norm_squared(a) */
- float g = 50.0f;
- fpv3_t fpa;
-
- for (i = 0; i < N; ++i)
- fpa[i] = FLOAT_TO_FP(a[i]);
-
- TEST_ASSERT(IS_FP_EQUAL(fpv3_norm_squared(fpa), FLOAT_TO_FP(g),
- NORM_SQUARED_TOLERANCE));
-
- return EC_SUCCESS;
-}
-
-static int test_fpv3_norm(void)
-{
- const int N = 3;
- floatv3_t a = {3.1f, 4.2f, 5.3f};
- /* Golden result g = norm(a) */
- float g = 7.439086f;
- int i;
- fpv3_t fpa;
- volatile fp_t result;
-
- for (i = 0; i < N; ++i)
- fpa[i] = FLOAT_TO_FP(a[i]);
-
- result = fpv3_norm(fpa);
- TEST_ASSERT(IS_FP_EQUAL(result, FLOAT_TO_FP(g), NORM_TOLERANCE));
- return EC_SUCCESS;
-}
-
-static int test_int_sqrtf(void)
-{
-#ifndef CONFIG_FPU
- TEST_ASSERT(int_sqrtf(0) == 0);
- TEST_ASSERT(int_sqrtf(15) == 3);
- TEST_ASSERT(int_sqrtf(25) == 5);
- TEST_ASSERT(int_sqrtf(1111088889) == 33333);
- TEST_ASSERT(int_sqrtf(123456789) == 11111);
- TEST_ASSERT(int_sqrtf(1000000000000000005) == 1000000000);
- /* Return zero for imaginary numbers */
- TEST_ASSERT(int_sqrtf(-100) == 0);
- /* Return INT32_MAX for input greater than INT32_MAX ^ 2 */
- TEST_ASSERT(int_sqrtf(INT64_MAX) == INT32_MAX);
-#endif
-
- return EC_SUCCESS;
-}
-
-static int test_mat33_fp_init_zero(void)
-{
- const int N = 3;
- int i, j;
- mat33_fp_t a;
-
- for (i = 0; i < N; ++i)
- for (j = 0; j < N; ++j)
- a[i][j] = FLOAT_TO_FP(55.66f);
-
- mat33_fp_init_zero(a);
-
- for (i = 0; i < N; ++i)
- for (j = 0; j < N; ++j)
- TEST_ASSERT(a[i][j] == FLOAT_TO_FP(0.0f));
-
- return EC_SUCCESS;
-}
-
-static int test_mat33_fp_init_diagonal(void)
-{
- const int N = 3;
- int i, j;
- mat33_fp_t a;
- fp_t v = FLOAT_TO_FP(-3.45f);
-
- for (i = 0; i < N; ++i)
- for (j = 0; j < N; ++j)
- a[i][j] = FLOAT_TO_FP(55.66f);
-
- mat33_fp_init_diagonal(a, v);
-
- for (i = 0; i < N; ++i)
- for (j = 0; j < N; ++j) {
- if (i == j)
- TEST_ASSERT(a[i][j] == v);
- else
- TEST_ASSERT(a[i][j] == FLOAT_TO_FP(0.0f));
- }
-
- return EC_SUCCESS;
-}
-
-static int test_mat33_fp_scalar_mul(void)
-{
- const int N = 3;
- float scale = 3.11f;
- mat33_float_t a = {
- {1.0f, 2.0f, 3.0f},
- {1.1f, 2.2f, 3.3f},
- {0.38f, 13.2f, 88.3f}
- };
- /* Golden result g = scalar_mul(a, scale) */
- mat33_float_t g = {{3.11f, 6.22f, 9.33f},
- {3.421f, 6.842f, 10.263f},
- {1.18179988861083984375f, 41.051998138427734375f,
- 274.613006591796875f}
- };
- int i, j;
- mat33_fp_t fpa;
-
- for (i = 0; i < N; ++i)
- for (j = 0; j < N; ++j)
- fpa[i][j] = FLOAT_TO_FP(a[i][j]);
-
- mat33_fp_scalar_mul(fpa, FLOAT_TO_FP(scale));
-
- for (i = 0; i < N; ++i)
- for (j = 0; j < N; ++j)
- TEST_ASSERT(IS_FP_EQUAL(fpa[i][j], FLOAT_TO_FP(g[i][j]),
- SCALAR_MUL_TOLERANCE));
-
- return EC_SUCCESS;
-}
-
-static int test_mat33_fp_get_eigenbasis(void)
-{
- mat33_fp_t s = {
- {FLOAT_TO_FP(4.0f), FLOAT_TO_FP(2.0f), FLOAT_TO_FP(2.0f)},
- {FLOAT_TO_FP(2.0f), FLOAT_TO_FP(4.0f), FLOAT_TO_FP(2.0f)},
- {FLOAT_TO_FP(2.0f), FLOAT_TO_FP(2.0f), FLOAT_TO_FP(4.0f)}
- };
- fpv3_t e_vals;
- mat33_fp_t e_vecs;
- int i, j;
-
- /* Golden result from float version. */
- mat33_fp_t gold_vecs = {
- {FLOAT_TO_FP(0.55735206f), FLOAT_TO_FP(0.55735206f),
- FLOAT_TO_FP(0.55735206f)},
- {FLOAT_TO_FP(0.70710677f), FLOAT_TO_FP(-0.70710677f),
- FLOAT_TO_FP(0.0f)},
- {FLOAT_TO_FP(-0.40824828f), FLOAT_TO_FP(-0.40824828f),
- FLOAT_TO_FP(0.81649655f)}
- };
- fpv3_t gold_vals = {FLOAT_TO_FP(8.0f), FLOAT_TO_FP(2.0f),
- FLOAT_TO_FP(2.0f)};
-
- mat33_fp_get_eigenbasis(s, e_vals, e_vecs);
-
- for (i = 0; i < 3; ++i) {
- TEST_ASSERT(IS_FP_EQUAL(gold_vals[i], e_vals[i],
- EIGENBASIS_TOLERANCE));
- for (j = 0; j < 3; ++j) {
- TEST_ASSERT(IS_FP_EQUAL(gold_vecs[i][j], e_vecs[i][j],
- EIGENBASIS_TOLERANCE));
- }
- }
-
- return EC_SUCCESS;
-}
-
-static int test_mat44_fp_decompose_lup(void)
-{
- int i, j;
- sizev4_t pivot;
- mat44_fp_t fpa = {
- {FLOAT_TO_FP(11.0f), FLOAT_TO_FP(9.0f),
- FLOAT_TO_FP(24.0f), FLOAT_TO_FP(2.0f)},
- {FLOAT_TO_FP(1.0f), FLOAT_TO_FP(5.0f),
- FLOAT_TO_FP(2.0f), FLOAT_TO_FP(6.0f)},
- {FLOAT_TO_FP(3.0f), FLOAT_TO_FP(17.0f),
- FLOAT_TO_FP(18.0f), FLOAT_TO_FP(1.0f)},
- {FLOAT_TO_FP(2.0f), FLOAT_TO_FP(5.0f),
- FLOAT_TO_FP(7.0f), FLOAT_TO_FP(1.0f)}
- };
- /* Golden result from float version. */
- mat44_fp_t gold_lu = {
- {FLOAT_TO_FP(11.0f), FLOAT_TO_FP(0.8181818f),
- FLOAT_TO_FP(2.1818182f), FLOAT_TO_FP(0.18181819f)},
- {FLOAT_TO_FP(3.0f), FLOAT_TO_FP(14.545455f),
- FLOAT_TO_FP(0.78749999f), FLOAT_TO_FP(0.031249999f)},
- {FLOAT_TO_FP(1.0f), FLOAT_TO_FP(4.181818f),
- FLOAT_TO_FP(-3.4749996f), FLOAT_TO_FP(-1.6366909f)},
- {FLOAT_TO_FP(2.0f), FLOAT_TO_FP(3.3636365f),
- FLOAT_TO_FP(-0.012500112f), FLOAT_TO_FP(0.5107912f)}
- };
- sizev4_t gold_pivot = {0, 2, 2, 3};
-
- mat44_fp_decompose_lup(fpa, pivot);
-
- for (i = 0; i < 4; ++i) {
- TEST_ASSERT(gold_pivot[i] == pivot[i]);
- for (j = 0; j < 4; ++j)
- TEST_ASSERT(IS_FP_EQUAL(gold_lu[i][j], fpa[i][j],
- LUP_TOLERANCE));
- }
-
- return EC_SUCCESS;
-}
-
-static int test_mat44_fp_solve(void)
-{
- int i;
- fpv4_t x;
- mat44_fp_t A = {
- {FLOAT_TO_FP(11.0f), FLOAT_TO_FP(0.8181818f),
- FLOAT_TO_FP(2.1818182f), FLOAT_TO_FP(0.18181819f)},
- {FLOAT_TO_FP(3.0f), FLOAT_TO_FP(14.545454),
- FLOAT_TO_FP(0.7875f), FLOAT_TO_FP(0.03125f)},
- {FLOAT_TO_FP(1.0f), FLOAT_TO_FP(4.181818f),
- FLOAT_TO_FP(-3.4750001f), FLOAT_TO_FP(-1.6366906f)},
- {FLOAT_TO_FP(2.0f), FLOAT_TO_FP(3.3636365f),
- FLOAT_TO_FP(-0.012500286f), FLOAT_TO_FP(0.5107909f)}
- };
- sizev4_t pivot = {0, 2, 2, 3};
- fpv4_t b = {FLOAT_TO_FP(1.0f), FLOAT_TO_FP(3.3f), FLOAT_TO_FP(0.8f),
- FLOAT_TO_FP(8.9f)};
- /* Golden result from float version. */
- fpv4_t gold_x = {FLOAT_TO_FP(-43.507435f), FLOAT_TO_FP(-21.459525f),
- FLOAT_TO_FP(26.629248f), FLOAT_TO_FP(16.80776f)};
-
- mat44_fp_solve(A, x, b, pivot);
-
- for (i = 0; i < 4; ++i)
- TEST_ASSERT(IS_FP_EQUAL(gold_x[i], x[i], SOLVE_TOLERANCE));
-
- return EC_SUCCESS;
-}
-
-void run_test(int argc, char **argv)
-{
- test_reset();
-
- RUN_TEST(test_fpv3_scalar_mul);
- RUN_TEST(test_fpv3_dot);
- RUN_TEST(test_fpv3_norm_squared);
- RUN_TEST(test_fpv3_norm);
- RUN_TEST(test_int_sqrtf);
- RUN_TEST(test_mat33_fp_init_zero);
- RUN_TEST(test_mat33_fp_init_diagonal);
- RUN_TEST(test_mat33_fp_scalar_mul);
- RUN_TEST(test_mat33_fp_get_eigenbasis);
- RUN_TEST(test_mat44_fp_decompose_lup);
- RUN_TEST(test_mat44_fp_solve);
-
- test_print_result();
-}
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