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matrix: update submodule (improves matrix inversion)

This commit is contained in:
Beat Küng 2021-08-31 15:21:21 +02:00 committed by Daniel Agar
parent 73ab153fe0
commit 291ca246d2
4 changed files with 10 additions and 7 deletions
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2
src/lib/matrix

@ -1 +1 @@
Subproject commit 3d1c9b988dff1d95f36cdd1df3e84d7a2365501c Subproject commit 007a7f78ae014499ecb18d8c92a312fc5a70899b

2
src/modules/control_allocator/ControlAllocation/ControlAllocationPseudoInverse.cpp
View File

@ -54,7 +54,7 @@ void
ControlAllocationPseudoInverse::updatePseudoInverse() ControlAllocationPseudoInverse::updatePseudoInverse()
{ {
if (_mix_update_needed) { if (_mix_update_needed) {
_mix = matrix::geninv(_effectiveness); matrix::geninv(_effectiveness, _mix);
_mix_update_needed = false; _mix_update_needed = false;
} }
} }

4
src/systemcmds/microbench/test_microbench_matrix.cpp
View File

@ -170,8 +170,8 @@ bool MicroBenchMatrix::time_matrix_dcm()
bool MicroBenchMatrix::time_matrix_pseduo_inverse() bool MicroBenchMatrix::time_matrix_pseduo_inverse()
{ {
PERF("matrix 6x16 pseudo inverse (all non-zero columns)", A16 = matrix::geninv(B16), 100); PERF("matrix 6x16 pseudo inverse (all non-zero columns)", matrix::geninv(B16, A16), 100);
PERF("matrix 6x16 pseudo inverse (4 non-zero columns)", A16 = matrix::geninv(B16_4), 100); PERF("matrix 6x16 pseudo inverse (4 non-zero columns)", matrix::geninv(B16_4, A16), 100);
return true; return true;
} }

9
src/systemcmds/tests/test_matrix.cpp
View File

@ -776,7 +776,8 @@ bool MatrixTest::pseudoInverseTests()
}; };
Matrix<float, 3, 4> A0(data0); Matrix<float, 3, 4> A0(data0);
Matrix<float, 4, 3> A0_I = geninv(A0); Matrix<float, 4, 3> A0_I;
geninv(A0, A0_I);
Matrix<float, 4, 3> A0_I_check(data0_check); Matrix<float, 4, 3> A0_I_check(data0_check);
ut_test((A0_I - A0_I_check).abs().max() < 1e-5); ut_test((A0_I - A0_I_check).abs().max() < 1e-5);
@ -795,7 +796,8 @@ bool MatrixTest::pseudoInverseTests()
}; };
Matrix<float, 4, 3> A1(data1); Matrix<float, 4, 3> A1(data1);
Matrix<float, 3, 4> A1_I = geninv(A1); Matrix<float, 3, 4> A1_I;
geninv(A1, A1_I);
Matrix<float, 3, 4> A1_I_check(data1_check); Matrix<float, 3, 4> A1_I_check(data1_check);
ut_test((A1_I - A1_I_check).abs().max() < 1e-5); ut_test((A1_I - A1_I_check).abs().max() < 1e-5);
@ -845,7 +847,8 @@ bool MatrixTest::pseudoInverseTests()
{ 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f} { 0.0f, 0.0f, 0.0f, 0.0f, 0.0f, 0.0f}
}; };
Matrix<float, 16, 6> A_check(A_quad_w); Matrix<float, 16, 6> A_check(A_quad_w);
Matrix<float, 16, 6> A = geninv(B); Matrix<float, 16, 6> A;
geninv(B, A);
ut_test((A - A_check).abs().max() < 1e-5); ut_test((A - A_check).abs().max() < 1e-5);
return true; return true;