eigen-basic-op.cpp

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//
// Copyright (c) 2019 INRIA
//
 
#include "pinocchio/multibody/model.hpp"
 
#include <Eigen/Core>
#include "pinocchio/math/matrix.hpp"
 
#include <boost/test/unit_test.hpp>
#include <boost/utility/binary.hpp>
 
BOOST_AUTO_TEST_SUITE(BOOST_TEST_MODULE)
 
BOOST_AUTO_TEST_CASE(test_matrix_matrix_product)
{
  using namespace pinocchio;
  using namespace Eigen;
  const Eigen::DenseIndex m = 20, n = 100;
  MatrixXd M1(MatrixXd::Ones(m, n)), M2(MatrixXd::Ones(n, m));
  MatrixMatrixProduct<MatrixXd, MatrixXd>::type res = M1 * M2;
  BOOST_CHECK(!res.eval().isZero());
}
 
BOOST_AUTO_TEST_CASE(test_scalar_matrix_product)
{
  using namespace pinocchio;
  using namespace Eigen;
  const Eigen::DenseIndex m = 20, n = 100;
  MatrixXd M(MatrixXd::Ones(m, n));
  const double alpha = 0.;
  ScalarMatrixProduct<double, MatrixXd>::type res = alpha * M;
  BOOST_CHECK(res.eval().isZero());
}
 
BOOST_AUTO_TEST_CASE(test_matrix_scalar_product)
{
  using namespace pinocchio;
  using namespace Eigen;
  const Eigen::DenseIndex m = 20, n = 100;
  MatrixXd M(MatrixXd::Ones(m, n));
  const double alpha = 1.;
  MatrixScalarProduct<MatrixXd, double>::type res = M * alpha;
  BOOST_CHECK(res.eval() == M);
}
 
BOOST_AUTO_TEST_SUITE_END()