public static void Test()
{
System.Console.WriteLine(String.Empty.PadRight(78, '#'));
System.Console.WriteLine(Environment.NewLine);
System.Console.WriteLine("Test of MatrixF64");
System.Console.WriteLine(Environment.NewLine);
System.Console.WriteLine(String.Empty.PadRight(78, '#'));
System.Console.WriteLine(Environment.NewLine);
System.Console.WriteLine(Environment.NewLine);
System.Console.WriteLine("Test of matrix initialization:");
System.Console.WriteLine(Environment.NewLine);
// A 5x3 matrix (5 rows x 3 columns) with
// 64-bit floating-point entries:
MatrixF64 m =
new MatrixF64
(
5, 3,
0.0, 1.0, 2.0, // row 0
3.0, 4.0, 5.0, // row 1
6.0, 7.0, 8.0, // row 2
9.0, 10.0, 11.0, // row 3
12.0, 13.0, 14.0 // row 4
);
m.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// [ 0, 1, 2 ] // row 0
// [ 3, 4, 5 ] // row 1
// [ 6, 7, 8 ] // row 2
// [ 9, 10, 11 ] // row 3
// [ 12, 13, 14 ] // row 4
// An 8x2 matrix (8 rows x 2 columns) with all 16
// 64-bit floating-point entries set to zero:
MatrixF64 z = MatrixF64.Zero(8, 2);
z.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// [ 0, 0 ] // row 0
// [ 0, 0 ] // row 1
// [ 0, 0 ] // row 2
// [ 0, 0 ] // row 3
// [ 0, 0 ] // row 4
// [ 0, 0 ] // row 5
// [ 0, 0 ] // row 6
// [ 0, 0 ] // row 7
// Examples of matrix addition, subtraction, and multiplication:
System.Console.WriteLine(Environment.NewLine);
System.Console.WriteLine("Test of matrix addition, subtraction, and multiplication:");
System.Console.WriteLine(Environment.NewLine);
MatrixF64 a =
new MatrixF64
(
3, 5,
0.0, 1.0, 2.0, 3.0, 4.0, // row 0
5.0, 6.0, 7.0, 8.0, 9.0, // row 1
10.0, 11.0, 12.0, 13.0, 14.0 // row 2
);
MatrixF64 b =
new MatrixF64
(
3, 5,
4.0, -3.0, 2.0, -1.0, 0.0, // row 0
-9.0, 8.0, -7.0, 6.0, -5.0, // row 1
14.0, -13.0, 12.0, -11.0, 10.0 // row 2
);
MatrixF64 c =
new MatrixF64
(
5, 3,
0.0, 1.0, 2.0, // row 0
3.0, 4.0, 5.0, // row 1
6.0, 7.0, 8.0, // row 2
9.0, 10.0, 11.0, // row 3
12.0, 13.0, 14.0 // row 4
);
MatrixF64 result = new MatrixF64();
result = a + b;
result.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// [ 4, -2, 4, 2, 4 ]
// [ -4, 14, 0, 14, 4 ]
// [ 24, -2, 24, 2, 24 ]
result = a - b;
result.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// [ -4, 4, 0, 4, 4 ]
// [ 14, -2, 14, 2, 14 ]
// [ -4, 24, 0, 24, 4 ]
result = -a;
result.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// [ 0, -1, -2, -3, -4 ]
// [ -5, -6, -7, -8, -9 ]
// [ -10, -11, -12, -13, -14 ]
result = 3.0 * a;
result.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// [ 0, 3, 6, 9, 12 ]
// [ 15, 18, 21, 24, 27 ]
// [ 30, 33, 36, 39, 42 ]
result = a * c; // (3x5) * (5x3) = (3x3)
result.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// [ 90, 100, 110 ]
// [ 240, 275, 310 ]
// [ 390, 450, 510 ]
result = c * a; // (5x3) * (3x5) = (5x5)
result.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// [ 25, 28, 31, 34, 37 ]
// [ 70, 82, 94, 106, 118 ]
// [ 115, 136, 157, 178, 199 ]
// [ 160, 190, 220, 250, 280 ]
// [ 205, 244, 283, 322, 361 ]
// Examples of multiplying by an identity matrix:
System.Console.WriteLine(Environment.NewLine);
System.Console.WriteLine("Test of multiplying by an identity matrix:");
System.Console.WriteLine(Environment.NewLine);
MatrixF64 identity3x3 = MatrixF64.Identity(3);
identity3x3.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// [ 1, 0, 0 ]
// [ 0, 1, 0 ]
// [ 0, 0, 1 ]
MatrixF64 s3x3 =
new MatrixF64
(
3, 3,
0.0, 1.0, 2.0, // row 0
3.0, 4.0, 5.0, // row 1
6.0, 7.0, 8.0 // row 2
);
result = s3x3 * identity3x3;
result.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// [ 0, 1, 2 ]
// [ 3, 4, 5 ]
// [ 6, 7, 8 ]
// (i.e., the same as s3x3)
result = identity3x3 * s3x3;
result.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// [ 0, 1, 2 ]
// [ 3, 4, 5 ]
// [ 6, 7, 8 ]
// (i.e., the same as s3x3)
// Example of LU factoring and back-substitution:
System.Console.WriteLine(Environment.NewLine);
System.Console.WriteLine("Test of LU factoring and back-substitution:");
System.Console.WriteLine(Environment.NewLine);
MatrixF64 a3x3 =
new MatrixF64
(
3, 3,
0.0, 1.0, 2.0, // row 0
3.0, 4.0, 5.0, // row 1
6.0, 7.0, 8.0 // row 2
);
int[] rowPermutationOfOriginalMatrix = null;
bool rowInterchangeParityIsOdd = false;
MatrixF64 a3x3LU = null;
MatrixF64.FindLUFactorsOfARowPermutedVersionOfAnOriginalMatrix
(
a3x3,
ref a3x3LU,
ref rowPermutationOfOriginalMatrix,
ref rowInterchangeParityIsOdd
);
a3x3LU.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// [ 6, 7, 8 ]
// [ 0, 1, 2 ]
// [ 0.5, 0.5, 1e-19 ]
// The matrix above is a combination of the L and U
// matrices. The L matrix is 0 above the diagonal,
// 1 on the diagonal, and the shown values below the
// diagonal. The U matrix is 0 below the diagonal,
// and the shown values on and above the diagonal.
// This LU factoring is of a ROW-PERMUTED version
// of the original matrix.
// The following L and U matrices are manually formed
// by inspecting the LU factoring matrix above.
MatrixF64 L3x3 =
new MatrixF64
(
3, 3,
1.0, 0.0, 0.0, // row 0
0.0, 1.0, 0.0, // row 1
0.5, 0.5, 1.0 // row 2
);
MatrixF64 U3x3 =
new MatrixF64
(
3, 3,
6.0, 7.0, 8.0, // row 0
0.0, 1.0, 2.0, // row 1
0.0, 0.0, 0.0 // row 2
);
// The product (L)*(U) produces a ROW-PERMUTED version
// of the original matrix:
result = L3x3 * U3x3;
result.WriteLine(4);
System.Console.WriteLine(Environment.NewLine);
// [ 6, 7, 8 ]
// [ 0, 1, 2 ]
// [ 3, 4, 5 ]
VectorF64 b3x1 = new VectorF64(1.0, 2.0, 3.0);
VectorF64 x3x1 = null;
MatrixF64.LUBacksubstitution
(
a3x3LU,
rowPermutationOfOriginalMatrix,
b3x1,
ref x3x1
);
// Solution vector
x3x1.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// ( -0.66666667, 1, 0 )
// Both the given b3x1 and this x3x1 are relative to the
// original matrix, a3x3. The a3x3LU for a ROW-PERMUTED
// version of a3x3, but LUBacksubstitution accepts a
// non-permuted product vector (e.g., b3x1) and produces
// a non-permuted solution vector (e.g., x3x1).
// Check solution by multiplying the original matrix a3x3
// by the solution vector x3x1, to get a product vector.
VectorF64 checkb3x1 = a3x3 * x3x1;
checkb3x1.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// ( 1, 2, 3 )
// This matches the b3x1 vector we specified above, so
// the solution is valid.
// Examples of matrix determinants:
System.Console.WriteLine(Environment.NewLine);
System.Console.WriteLine("Test of matrix determinants:");
System.Console.WriteLine(Environment.NewLine);
MatrixF64 d2x2 =
new MatrixF64
(
2, 2,
2.0, 5.0, // row 0
-4.0, -7.0 // row 1
);
double detd2x2 = d2x2.Determinant();
System.Console.WriteLine(detd2x2);
System.Console.WriteLine(Environment.NewLine);
// detd2x2 = 6
MatrixF64 d3x3 =
new MatrixF64
(
3, 3,
2.0, 5.0, 7.0, // row 0
-4.0, -1.0, 6.0, // row 1
9.0, 8.0, 3.0 // row 2
);
double detd3x3 = d3x3.Determinant();
System.Console.WriteLine(detd3x3);
System.Console.WriteLine(Environment.NewLine);
// detd3x3 = 67
MatrixF64 d4x4 =
new MatrixF64
(
4, 4,
7.0, -5.0, 2.0, 4.0, // row 0
3.0, 2.0, 6.0, 3.0, // row 1
-9.0, 8.0, -3.0, 2.0, // row 2
5.0, 3.0, 2.0, 5.0 // row 3
);
double detd4x4 = d4x4.Determinant();
System.Console.WriteLine(detd4x4);
System.Console.WriteLine(Environment.NewLine);
// detd4x4 = 1457
// Examples of matrix inverses:
System.Console.WriteLine(Environment.NewLine);
System.Console.WriteLine("Test of matrix inverses:");
System.Console.WriteLine(Environment.NewLine);
MatrixF64 m2x2 =
new MatrixF64
(
2, 2,
2.0, 5.0, // row 0
-4.0, -7.0 // row 1
);
MatrixF64 inversem2x2 = m2x2.Inverse();
inversem2x2.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// [ -1.1666667, -0.83333333 ]
// [ 0.66666667, 0.33333333 ]
MatrixF64 prodinvm2x2andm2x2 = inversem2x2 * m2x2;
prodinvm2x2andm2x2.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// [ 1, 8.8817842e-16 ]
// [ 0, 1 ]
// This product is very close to a
// 2x2 identity matrix, as it should be.
MatrixF64 prodm2x2andinvm2x2 = m2x2 * inversem2x2;
prodm2x2andinvm2x2.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// [ 1, 0 ]
// [ 0, 1 ]
// This product is the 2x2 identity matrix,
// as it should be.
MatrixF64 m3x3 =
new MatrixF64
(
3, 3,
2.0, 5.0, 7.0, // row 0
-4.0, -1.0, 6.0, // row 1
9.0, 8.0, 3.0 // row 2
);
MatrixF64 inversem3x3 = m3x3.Inverse();
inversem3x3.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// [ -0.76119403, 0.6119403, 0.55223881 ]
// [ 0.98507463, -0.85074627, -0.59701493 ]
// [ -0.34328358, 0.43283582, 0.26865672 ]
MatrixF64 prodinvm3x3andm3x3 = inversem3x3 * m3x3;
prodinvm3x3andm3x3.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// [ 1, 0, 4.4408921e-16 ]
// [ 0, 1, 0 ]
// [ 0, 0, 1 ]
// This product is very close to a 3x3 identity matrix,
// as it should be.
MatrixF64 prodm3x3andinvm3x3 = m3x3 * inversem3x3;
prodm3x3andinvm3x3.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// [ 1, -4.4408921e-16, 4.4408921e-16 ]
// [ 0, 1, -2.220446e-16 ]
// [ -4.4408921e-16, 0, 1 ]
// This product is very close to a 3x3 identity matrix,
// as it should be.
// Examples of a product of a matrix and a vector:
System.Console.WriteLine(Environment.NewLine);
System.Console.WriteLine("Test of a product of a matrix and a vector:");
System.Console.WriteLine(Environment.NewLine);
MatrixF64 t3x3 =
new MatrixF64
(
3, 3,
2.0, 5.0, 7.0, // row 0
-4.0, -1.0, 6.0, // row 1
9.0, 8.0, 3.0 // row 2
);
VectorF64 p3x1 = new VectorF64(1.0, 2.0, 3.0);
VectorF64 q3x1 = t3x3 * p3x1;
q3x1.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// ( 33, 12, 34 )
// The multiplicative product of the inverse
// of the matrix and the result vector computed
// above should produce the original vector.
MatrixF64 inverset3x3 = t3x3.Inverse();
VectorF64 prodinvt3x3andq3x1 = inverset3x3 * q3x1;
prodinvt3x3andq3x1.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// ( 1, 2, 3 )
// This vector is equal to the original vector,
// as expected.
// Example of using a homogeneous matrix to
// translate a homogeneous vector:
System.Console.WriteLine(Environment.NewLine);
System.Console.WriteLine("Test of using a homogeneous matrix to translate a homogeneous vector:");
System.Console.WriteLine(Environment.NewLine);
// Forming a homogeneous matrix that represents
// a translation:
VectorF64 homogeneousTranslationVector4x1 =
new VectorF64(10.0, 20.0, 30.0, 1.0);
MatrixF64 translation4x4 =
MatrixF64.FormHomogeneousTranslationMatrix
(homogeneousTranslationVector4x1);
translation4x4.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// [ 1, 0, 0, 10 ]
// [ 0, 1, 0, 20 ]
// [ 0, 0, 1, 30 ]
// [ 0, 0, 0, 1 ]
// Using the homogeneous matrix to translate
// a homogeneous vector:
VectorF64 homogeneousVector =
new VectorF64(5.0, 6.0, 7.0, 1.0);
VectorF64 translatedVector =
translation4x4 * homogeneousVector;
translatedVector.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// ( 15, 26, 37, 1 )
// The relevant vector components (5,6,7)
// were translated by (10,20,30) by the
// homogeneous translation matrix.
// Example of using a homogeneous matrix
// to rotate a homogeneous vector:
System.Console.WriteLine(Environment.NewLine);
System.Console.WriteLine("Test of using a homogeneous matrix to rotate a homogeneous vector:");
System.Console.WriteLine(Environment.NewLine);
// Forming a homogeneous rotation matrix that
// rotates a positive component along coordinate
// axis 0 to a positive component along
// cooridnate axis 1, in 3-dimensional space.
// (The homogeneous matrix must be (3+1)=4
// rows by (3+1)=4 columns.)
MatrixF64 rotation4x4 =
MatrixF64.Rab(4, 0, 1, (0.5 * Math.PI));
rotation4x4.WriteLine(3);
System.Console.WriteLine(Environment.NewLine);
// [ 6.12e-17, -1, 0, 0 ]
// [ 1, 6.12e-17, 0, 0 ]
// [ 0, 0, 1, 0 ]
// [ 0, 0, 0, 1 ]
// (The entries '6.12e-17' are negligible.)
// The upper-left 3x3 part of the matrix represents
// a counterclockwise rotation of a quarter-turn
// such that a positive component along axis 0
// would be rotated to a positive component along
// axis 1, in 3-dimensional space.
// Using the homogeneous rotation matrix to
// rotate a homogeneous vector:
VectorF64 homogeneousVector2 =
new VectorF64(5.0, 6.0, 7.0, 1.0);
VectorF64 rotatedVector =
rotation4x4 * homogeneousVector2;
rotatedVector.WriteLine();
System.Console.WriteLine(Environment.NewLine);
// ( -6, 5, 7, 1 )
// The relevant vector components (5,6,7) were
// rotated to (-6,5,7), which is consistent with
// a counterclockwise quarter-turn rotation
// with a rotation plane parallel to axes 0 and 1.
System.Console.WriteLine(Environment.NewLine);
System.Console.WriteLine(String.Empty.PadRight(78, '#'));
System.Console.WriteLine(Environment.NewLine);
}
