Examples with CholeskyDecomposition maspack.matrix.CholeskyDecomposition used on opensource projects

Example 1 with CholeskyDecomposition

use of maspack.matrix.CholeskyDecomposition in project artisynth_core by artisynth.

the class SpatialInertiaTest method test.

public void test() throws Exception {
    SpatialInertia M1 = new SpatialInertia();
    SpatialInertia M2 = new SpatialInertia();
    SpatialInertia M3 = new SpatialInertia();
    double mass;
    Point3d com = new Point3d();
    SymmetricMatrix3d J = new SymmetricMatrix3d();
    Matrix3d F = new Matrix3d();
    for (int i = 0; i < 100; i++) {
        M1.setRandom(-0.5, 0.5, randGen);
        String s = M1.toString();
        M2.scan(new ReaderTokenizer(new StringReader(s)));
        checkEqual("toString/scan MASS_INERTIA check", M2, M1, EPS);
        s = M1.toString("%g", SpatialInertia.MATRIX_STRING);
        M2.scan(new ReaderTokenizer(new StringReader(s)));
        checkEqual("toString/scan MATRIX_STRING check", M2, M1, EPS);
        MatrixNd MA = new MatrixNd(0, 0);
        MatrixNd MB = new MatrixNd(0, 0);
        MA.set(M1);
        M2.set(MA);
        mass = randGen.nextDouble();
        com.setRandom(-0.5, 0.5, randGen);
        F.setRandom(-0.5, 0.5, randGen);
        J.mulTransposeLeft(F);
        M1.setMass(mass);
        M1.setCenterOfMass(com);
        M1.setRotationalInertia(J);
        checkComponents("set component check", M1, mass, com, J);
        M2.set(M1);
        checkComponents("set check", M2, mass, com, J);
        M1.set(mass, J, com);
        checkComponents("set check", M1, mass, com, J);
        M1.set(mass, J);
        com.setZero();
        checkComponents("set check", M1, mass, com, J);
        M1.setRandom();
        MA.set(M1);
        MB.set(M2);
        // check addition
        M2.add(M1);
        MB.add(MA);
        M3.set(MB);
        checkEqual("add check", M2, M3, EPS);
        // check subtraction
        MB.sub(MA);
        M2.sub(M1);
        M3.set(MB);
        checkEqual("sub check", M2, M3, EPS);
        // check scaling
        MB.scale(3);
        M2.scale(3);
        M3.set(MB);
        checkEqual("scale check", M2, M3, EPS);
        MatrixNd invM2 = new MatrixNd(0, 0);
        MatrixNd invMB = new MatrixNd(0, 0);
        // check inversion
        MB.set(M2);
        M2.getInverse(invM2);
        invMB.invert(MB);
        double eps = invM2.frobeniusNorm() * EPS;
        checkEqual("inverse check", invM2, invMB, eps);
        Matrix6d invM6 = new Matrix6d();
        SpatialInertia.invert(invM6, M2);
        checkEqual("inverse check", invM6, invMB, eps);
        CholeskyDecomposition chol = new CholeskyDecomposition();
        chol.factor(MB);
        MatrixNd U = new MatrixNd(6, 6);
        MatrixNd L = new MatrixNd(6, 6);
        chol.get(L);
        U.transpose(L);
        MatrixNd invU = new MatrixNd(6, 6);
        MatrixNd invL = new MatrixNd(6, 6);
        invU.invert(U);
        invL.transpose(invU);
        VectorNd vec = new VectorNd(6);
        VectorNd res = new VectorNd(6);
        Twist tw1 = new Twist();
        Twist twr = new Twist();
        Twist twrCheck = new Twist();
        Wrench wr1 = new Wrench();
        Wrench wrr = new Wrench();
        Wrench wrrCheck = new Wrench();
        // check multiply by vector (twist)
        tw1.setRandom();
        M2.mul(wrr, tw1);
        vec.set(tw1);
        MB.mul(res, vec);
        wrrCheck.set(res);
        checkEqual("mul check", wrr, wrrCheck, EPS);
        // check inverse multiply by vector (wrench)
        wr1.setRandom();
        M2.mulInverse(twr, wr1);
        vec.set(wr1);
        invMB.mul(res, vec);
        twrCheck.set(res);
        checkEqual("inverse mul check", twr, twrCheck, eps);
        // check inverse multiply by vector (twist, twist)
        wr1.setRandom();
        twr.set(wr1);
        M2.mulInverse(twr, twr);
        vec.set(wr1);
        invMB.mul(res, vec);
        twrCheck.set(res);
        checkEqual("inverse mul check", twr, twrCheck, eps);
        // check right factor multiply by vector
        tw1.setRandom();
        M2.mulRightFactor(twr, tw1);
        vec.set(tw1);
        U.mul(res, vec);
        twrCheck.set(res);
        checkEqual("mul right factor", twr, twrCheck, EPS);
        M2.mulRightFactor(tw1, tw1);
        checkEqual("mul right factor (twr == tw1)", tw1, twrCheck, EPS);
        // check right factor inverse multiply by vector
        tw1.setRandom();
        M2.mulRightFactorInverse(twr, tw1);
        vec.set(tw1);
        invU.mul(res, vec);
        twrCheck.set(res);
        checkEqual("mul right factor inverse", twr, twrCheck, eps);
        M2.mulRightFactorInverse(tw1, tw1);
        checkEqual("mul right factor inverse (twr == tw1)", tw1, twrCheck, eps);
        // check left factor multiply by vector
        wr1.setRandom();
        M2.mulLeftFactor(wrr, wr1);
        vec.set(wr1);
        L.mul(res, vec);
        wrrCheck.set(res);
        checkEqual("mul left factor", wrr, wrrCheck, EPS);
        M2.mulLeftFactor(wr1, wr1);
        checkEqual("mul left factor (wrr == wr1)", wr1, wrrCheck, EPS);
        // check left factor inverse multiply by vector
        wr1.setRandom();
        M2.mulLeftFactorInverse(wrr, wr1);
        vec.set(wr1);
        invL.mul(res, vec);
        wrrCheck.set(res);
        checkEqual("mul left factor inverse", wrr, wrrCheck, eps);
        M2.mulLeftFactorInverse(wr1, wr1);
        checkEqual("mul left factor inverse (wrr == wr1)", wr1, wrrCheck, eps);
        // check addition of point mass
        Matrix6d M6 = new Matrix6d();
        SpatialInertia MCheck = new SpatialInertia();
        MCheck.set(M1);
        M6.set(M1);
        Point3d com1 = new Point3d();
        double mass1 = randGen.nextDouble();
        com1.setRandom(-0.5, 0.5, randGen);
        Point3d com2 = new Point3d();
        double mass2 = randGen.nextDouble();
        com2.setRandom(-0.5, 0.5, randGen);
        M3.setPointMass(mass1, com1);
        MCheck.add(M3);
        M3.setPointMass(mass2, com2);
        MCheck.add(M3);
        M1.addPointMass(mass1, com1);
        M1.addPointMass(mass2, com2);
        checkEqual("point mass addition", M1, MCheck, EPS);
        SpatialInertia.addPointMass(M6, mass1, com1);
        SpatialInertia.addPointMass(M6, mass2, com2);
        Matrix6d MM = new Matrix6d();
        MM.sub(MCheck, M6);
        checkEqual("point mass addition", M6, MCheck, EPS);
        // check rotation transforms
        RotationMatrix3d R = new RotationMatrix3d();
        SpatialInertia MSave = new SpatialInertia(M1);
        R.setRandom();
        M1.getRotated(M6, R);
        MCheck.set(M1);
        MCheck.transform(R);
        checkEqual("getRotated", M6, MCheck, EPS);
        MCheck.inverseTransform(R);
        checkEqual("inverseTransform", MCheck, MSave, EPS);
        R.transpose();
        M1.set(M6);
        M1.getRotated(M6, R);
        // should be back to original
        checkEqual("getRotated (back)", M6, MSave, EPS);
    }
// // test creation of inertia from a mesh
// double density = 20;
// double wx = 3.0;
// double wy = 1.0;
// double wz = 2.0;
// SpatialInertia boxInertia =
// SpatialInertia.createBoxInertia (20 * wx * wy * wz, wx, wy, wz);
// PolygonalMesh boxMesh = MeshFactory.createQuadBox (wx, wy, wz);
// SpatialInertia meshInertia =
// SpatialInertia.createClosedVolumeInertia (boxMesh, density);
// 
// checkMeshInertia (boxMesh, density, boxInertia);
// 
// SpatialInertia innerBoxInertia =
// SpatialInertia.createBoxInertia (1.0 * density, 1, 1, 1);
// boxInertia.setBox (20 * wx * wy * wz, wx, wy, wz);
// boxInertia.sub (innerBoxInertia);
// boxMesh = buildMeshWithHole (wx, wy, wz);
// 
// checkMeshInertia (boxMesh, density, boxInertia);
// 
// boxMesh.triangulate();
// checkMeshInertia (boxMesh, density, boxInertia);
}