add check_qr test

Author: kovach

tests/CMakeLists.txt

@@ -47,6 +47,7 @@ else (CMAKE_CROSSCOMPILING)
       check_signal.c
       check_track.c
       check_cnav.c
+      check_qr.c
     )
 
     target_link_libraries(test_libswiftnav ${TEST_LIBS})

tests/check_main.c

@@ -34,6 +34,8 @@ int main(void)
   srunner_add_suite(sr, track_test_suite());
   srunner_add_suite(sr, cnav_test_suite());
 
+  srunner_add_suite(sr, qr_test_suite());
+
   srunner_set_fork_status(sr, CK_NOFORK);
   srunner_run_all(sr, CK_NORMAL);
   number_failed = srunner_ntests_failed(sr);

tests/check_qr.c

@@ -0,0 +1,111 @@
+#include <stdio.h>
+#include <stdlib.h>
+
+#include <check.h>
+
+#include <libswiftnav/linear_algebra.h>
+#include <libswiftnav/printing_utils.h>
+#include <libswiftnav/plover/qr.h>
+
+#include "check_utils.h"
+
+START_TEST(test_ok)
+{
+  double m1[] = {1, 0, 2,
+                 1, 1, -1,
+                 0, 0, 1,
+                 0, 0, 22 };
+  double b[] = {5, 4, 1.1, 22};
+  double soln[3];
+  double residual;
+
+  s8 code = qr_solve(4, 3, m1, b, soln, &residual);
+  
+  fail_unless(code == 0, "Solver error code: %d\n", code);
+  fail_unless(residual < 0.1, "Residual too large: %f\n", residual);
+}
+END_TEST
+
+/* Deficient */
+START_TEST(test_bad)
+{
+  double m1[] = {1, 0, 0,
+                 0, 1, 0,
+                 0, 0, 0 };
+  double b[] = {1,1,1};
+  double soln[3];
+  double residual;
+
+  s8 code = qr_solve(3, 3, m1, b, soln, &residual);
+  
+  fail_unless(code == -1, "Wrong solver code: %d\n", code);
+}
+END_TEST
+
+double randd() {
+  int max = 22;
+  return (double)(rand()) / RAND_MAX * max - (double)max / 2;
+}
+
+void test_qr(int rows, int cols)
+{
+  double mat[rows*cols];
+  double vec[cols];
+
+  for(int r = 0; r < rows; r++) {
+    for(int c = 0; c < cols; c++) {
+      mat[r*cols + c] = randd();
+    }
+  }
+  for(int c = 0; c < cols; c++) {
+    vec[c] = randd();
+  }
+
+  double m1[rows*cols];
+  memcpy(m1, mat, sizeof(m1));
+
+  //printf("%d %d\n", rows, cols);
+  //print_double_mtx(mat, rows, cols);
+
+  double out[rows];
+  matrix_multiply(rows, cols, 1, mat, vec, out);
+  double soln[cols];
+  double residual;
+  int code = qr_solve(rows, cols, mat, out, soln, &residual);
+  fail_unless(residual < 0.0000001, "Residual too large: %f\n", residual);
+  if (!arr_within_epsilon(cols, soln, vec) && code != -1) {
+    printf("original matrix: ");
+    print_double_mtx(m1, rows, cols);
+    printf("reduced R matrix: ");
+    print_double_mtx(mat, rows, cols);
+    printf("solution: ");
+    print_double_mtx(soln, 1, cols);
+    printf("vec: ");
+    print_double_mtx(vec, 1, cols);
+    fail_unless(false, "Solution wrong\n");
+  }
+}
+
+/* Performs 10000 trials. */
+START_TEST(test_rand)
+{
+  srand(0);
+  for (int i = 0; i < 10000; i++) {
+    int rows = rand() % 25 + 1;
+    int cols = rand() % rows + 1;
+    test_qr(rows, cols);
+  }
+}
+END_TEST
+
+Suite* qr_test_suite(void)
+{
+  Suite *s = suite_create("Generated QR solver");
+
+  TCase *tc_core = tcase_create("Core");
+  tcase_add_test(tc_core, test_ok);
+  tcase_add_test(tc_core, test_bad);
+  tcase_add_test(tc_core, test_rand);
+  suite_add_tcase(s, tc_core);
+  return s;
+}

tests/check_suites.h

@@ -23,5 +23,6 @@ Suite* ionosphere_suite(void);
 Suite* signal_test_suite(void);
 Suite* track_test_suite(void);
 Suite* cnav_test_suite(void);
+Suite* qr_test_suite(void);
 
 #endif /* CHECK_SUITES_H */