math_utils.cpp

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//
// Copyright (c) 2017 CNRS
//
// This file is part of tsid
// tsid is free software: you can redistribute it
// and/or modify it under the terms of the GNU Lesser General Public
// License as published by the Free Software Foundation, either version
// 3 of the License, or (at your option) any later version.
// tsid is distributed in the hope that it will be
// useful, but WITHOUT ANY WARRANTY; without even the implied warranty
// of MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
// General Lesser Public License for more details. You should have
// received a copy of the GNU Lesser General Public License along with
// tsid If not, see
// <http://www.gnu.org/licenses/>.
//
 
#include <iostream>
 
#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>
 
#include <tsid/math/utils.hpp>
 
BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
 
BOOST_AUTO_TEST_CASE(test_pseudoinverse) {
  std::cout << "test_pseudoinverse\n";
  using namespace tsid::math;
  const unsigned int m = 3;
  const unsigned int n = 5;
 
  Matrix A = Matrix::Random(m, n);
  Matrix Apinv = Matrix::Zero(n, m);
  pseudoInverse(A, Apinv, 1e-5);
 
  BOOST_CHECK(Matrix::Identity(m, m).isApprox(A * Apinv));
}
 
BOOST_AUTO_TEST_SUITE_END()