private Matrix4x4 ComputeTransform(double[,] A, double[] b)
{
double[,] Aplus = ArrayMatrixUtils.MoorePenroseInverse(A);
double[] xOpt = ArrayMatrixUtils.Multiply(Aplus, b);
return(TransformationMatrixFromXOpt(xOpt));
}
public void Test_MoorePenroseInverse_SquareMatrix()
{
double[,] array =
{
{ -6.040000000000000, +4.880000000000000 },
{ -9.390000000000001, +0.000000000000001 },
};
double[,] expected =
{
{ +0.000000000000000, -0.106496272630458 },
{ +0.204918032786885, -0.131810960386878 },
};
double[,] actual = ArrayMatrixUtils.MoorePenroseInverse(array);
Assert.That(actual, Is.EqualTo(expected).Within(precision));
}
public void Test_MoorePenroseInverse_RectangularMatrix()
{
double[,] array =
{
{ +5.5800, +7.8200 },
{ +4.3000, -3.3200 },
{ +8.0700, +3.9700 },
};
double[,] expected =
{
{ +0.0017, +0.0921, +0.0737 },
{ +0.0878, -0.1020, -0.0063 },
};
double[,] actual = ArrayMatrixUtils.MoorePenroseInverse(array);
Assert.That(actual, Is.EqualTo(expected).Within(precision));
}