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Author SHA1 Message Date
1715d2b46c Merge pull request 'Add a merge checker script' (#1) from Testing-merge-checker into main
Reviewed-on: #1
2025-05-29 20:36:30 +00:00
296f233b28 Updated README
All checks were successful
Merge-Checker / build_and_test (pull_request) Successful in 23s
2025-05-29 16:35:52 -04:00
32c2a5cef2 Added a check to see if the timing results have signifigantly changed
Update matrix-timing-tests timings [skip ci]

Fixing timing test runner

Update matrix-timing-tests timings

Removed the seperate benchmark action
2025-05-29 16:34:31 -04:00
54d9699df8 Added a merge checker script that has to run before you can merge to main
Updated merge checker and seperated the matrix tests fro mthe timing tests

Added matrix test timings

Timings get auto-comitted

Update matrix-timing-tests timings [skip ci]

Updated readme

Update matrix-timing-tests timings [skip ci]

Fixing auto-checkout issues

updated readme

Update matrix-timing-tests timings [skip ci]

Split timing tests into its own job

Update matrix-timing-tests timings [skip ci]
2025-05-29 16:34:28 -04:00
8 changed files with 298 additions and 219 deletions

View File

@@ -5,22 +5,98 @@ on:
branches: ["**"]
jobs:
build:
build_and_test:
runs-on: ubuntu-latest
steps:
- name: Checkout source code
uses: actions/checkout@v3
with:
persist-credentials: true
fetch-depth: 0
- name: Install dependencies (CMake + Ninja + Compiler)
- name: Install dependencies (CMake + Ninja + build tools)
run: |
sudo apt-get update
sudo apt-get install -y cmake ninja-build build-essential
sudo apt-get install -y cmake ninja-build build-essential time git
- name: Configure project with CMake
run: |
cmake -G Ninja -S . -B build/
run: cmake -G Ninja -S . -B build/
- name: Build with Ninja
run: ninja -C build/
- name: Run all unit tests except matrix-timing-tests
run: |
ninja -C build/
for test_exec in build/unit-tests/matrix-tests build/unit-tests/quaternion-tests build/unit-tests/vector-3d-tests; do
if [ -x "$test_exec" ]; then
echo "Running $test_exec"
"$test_exec"
else
echo "Warning: $test_exec not found or not executable"
fi
done
- name: Run matrix-timing-tests
run: |
mkdir -p unit-tests/timing-results
if [ -x build/unit-tests/matrix-timing-tests ]; then
echo "Running matrix-timing-tests with timing"
/usr/bin/time -v build/unit-tests/matrix-timing-tests -d yes &> unit-tests/timing-results/matrix-timing-tests.txt
cat unit-tests/timing-results/matrix-timing-tests.txt
else
echo "matrix-timing-tests executable not found or not executable"
exit 1
fi
- name: Compare timing results
id: check_diff
run: |
git show origin/${{ github.event.pull_request.head.ref }}:unit-tests/timing-results/matrix-timing-tests.txt > old.txt || echo "" > old.txt
cp unit-tests/timing-results/matrix-timing-tests.txt new.txt
echo "Comparing timing results for changes ≥ 0.1s (ignoring 'Timing Tests' lines)..."
changed=0
awk -v changed_ref=/tmp/timings_changed.flag '
BEGIN {
change_threshold = 0.1
}
FILENAME == "old.txt" && /^[0-9]+\.[0-9]+ s: / {
label = substr($0, index($0, ":") + 2)
if (label != "Timing Tests") {
label_times[label] = $1
}
}
FILENAME == "new.txt" && /^[0-9]+\.[0-9]+ s: / {
new_time = $1
label = substr($0, index($0, ":") + 2)
if (label == "Timing Tests") next
old_time = label_times[label]
delta = new_time - old_time
if (delta < 0) delta = -delta
if (old_time != "" && delta >= change_threshold) {
printf "⚠️ %.3f s → %.3f s: %s (Δ=%.3f s)\n", old_time, new_time, label, delta
system("touch " changed_ref)
} else if (old_time == "") {
printf "🆕 New timing entry: %.3f s: %s\n", new_time, label
system("touch " changed_ref)
}
}
END {
if (!system("test -f " changed_ref)) {
exit 0
} else {
print "✅ Timings havent changed significantly (Δ < 0.1s)."
exit 0
}
}
' old.txt new.txt
if [ -f /tmp/timings_changed.flag ]; then
echo "timings_changed=true" >> $GITHUB_OUTPUT
else
echo "timings_changed=false" >> $GITHUB_OUTPUT
fi

View File

@@ -1 +1,9 @@
# Introduction
This matrix math library is focused on embedded development and avoids any heap memory allocation unless you explicitly ask for it.
It uses templates to pre-allocate matrices on the stack.
There are still several operations that are works in progress such as:
TODO: Add a function to calculate eigenvalues/vectors
TODO: Add a function to compute RREF
TODO: Add a function for SVD decomposition
TODO: Add a function for LQ decomposition

View File

@@ -16,6 +16,15 @@ target_link_libraries(matrix-tests
Catch2::Catch2WithMain
)
# matrix timing tests
add_executable(matrix-timing-tests matrix-timing-tests.cpp)
target_link_libraries(matrix-timing-tests
PRIVATE
matrix
Catch2::Catch2WithMain
)
# Vector 3D Tests
add_executable(vector-3d-tests vector-tests.cpp)

View File

@@ -1,14 +0,0 @@
Addition: 0.419 s
Subtraction: 0.421 s
Multiplication: 3.297 s
Scalar Multiplication: 0.329 s
Element Multiply: 0.306 s
Element Divide: 0.302 s
Minor Matrix: 0.331 s
Determinant: 0.177 s
Matrix of Minors: 0.766 s
Invert: 0.183 s
Transpose: 0.215 s
Normalize: 0.315 s
GET ROW: 0.008 s
GET COLUMN: 0.43 s

View File

@@ -10,15 +10,13 @@
#include <cmath>
#include <iostream>
TEST_CASE("Elementary Matrix Operations", "Matrix")
{
TEST_CASE("Elementary Matrix Operations", "Matrix") {
std::array<float, 4> arr2{5, 6, 7, 8};
Matrix<2, 2> mat1{1, 2, 3, 4};
Matrix<2, 2> mat2{arr2};
Matrix<2, 2> mat3{};
SECTION("Initialization")
{
SECTION("Initialization") {
// array initialization
REQUIRE(mat1.Get(0, 0) == 1);
REQUIRE(mat1.Get(0, 1) == 2);
@@ -40,17 +38,14 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
// large matrix
Matrix<255, 255> mat6{};
mat6.Fill(4);
for (uint8_t row{0}; row < 255; row++)
{
for (uint8_t column{0}; column < 255; column++)
{
for (uint8_t row{0}; row < 255; row++) {
for (uint8_t column{0}; column < 255; column++) {
REQUIRE(mat6.Get(row, column) == 4);
}
}
}
SECTION("Fill")
{
SECTION("Fill") {
mat1.Fill(0);
REQUIRE(mat1.Get(0, 0) == 0);
REQUIRE(mat1.Get(0, 1) == 0);
@@ -70,12 +65,10 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE(mat3.Get(1, 1) == -20);
}
SECTION("Addition")
{
SECTION("Addition") {
std::string strBuf1 = "";
mat1.ToString(strBuf1);
std::cout << "Matrix 1:\n"
<< strBuf1 << std::endl;
std::cout << "Matrix 1:\n" << strBuf1 << std::endl;
mat1.Add(mat2, mat3);
@@ -93,8 +86,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE(mat3.Get(1, 1) == 12);
}
SECTION("Subtraction")
{
SECTION("Subtraction") {
mat1.Sub(mat2, mat3);
REQUIRE(mat3.Get(0, 0) == -4);
@@ -111,8 +103,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE(mat3.Get(1, 1) == -4);
}
SECTION("Multiplication")
{
SECTION("Multiplication") {
mat1.Mult(mat2, mat3);
REQUIRE(mat3.Get(0, 0) == 19);
@@ -131,8 +122,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
// TODO: You need to add non-square multiplications to this.
}
SECTION("Scalar Multiplication")
{
SECTION("Scalar Multiplication") {
mat1.Mult(2, mat3);
REQUIRE(mat3.Get(0, 0) == 2);
@@ -141,8 +131,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE(mat3.Get(1, 1) == 8);
}
SECTION("Element Multiply")
{
SECTION("Element Multiply") {
mat1.ElementMultiply(mat2, mat3);
REQUIRE(mat3.Get(0, 0) == 5);
@@ -151,8 +140,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE(mat3.Get(1, 1) == 32);
}
SECTION("Element Divide")
{
SECTION("Element Divide") {
mat1.ElementDivide(mat2, mat3);
REQUIRE_THAT(mat3.Get(0, 0), Catch::Matchers::WithinRel(0.2f, 1e-6f));
@@ -161,8 +149,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE_THAT(mat3.Get(1, 1), Catch::Matchers::WithinRel(0.5f, 1e-6f));
}
SECTION("Minor Matrix")
{
SECTION("Minor Matrix") {
// what about matrices of 0,0 or 1,1?
// minor matrix for 2x2 matrix
Matrix<1, 1> minorMat1{};
@@ -198,8 +185,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE(minorMat4.Get(1, 1) == 5);
}
SECTION("Determinant")
{
SECTION("Determinant") {
float det1 = mat1.Det();
REQUIRE_THAT(det1, Catch::Matchers::WithinRel(-2.0F, 1e-6f));
@@ -216,8 +202,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE_THAT(det5, Catch::Matchers::WithinRel(6.0F, 1e-6f));
}
SECTION("Matrix of Minors")
{
SECTION("Matrix of Minors") {
mat1.MatrixOfMinors(mat3);
REQUIRE_THAT(mat3.Get(0, 0), Catch::Matchers::WithinRel(4.0F, 1e-6f));
REQUIRE_THAT(mat3.Get(0, 1), Catch::Matchers::WithinRel(3.0F, 1e-6f));
@@ -238,8 +223,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE_THAT(mat5.Get(2, 2), Catch::Matchers::WithinRel(-3.0F, 1e-6f));
}
SECTION("Invert")
{
SECTION("Invert") {
mat3 = mat1.Invert();
REQUIRE_THAT(mat3.Get(0, 0), Catch::Matchers::WithinRel(-2.0F, 1e-6f));
REQUIRE_THAT(mat3.Get(0, 1), Catch::Matchers::WithinRel(1.0F, 1e-6f));
@@ -247,8 +231,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE_THAT(mat3.Get(1, 1), Catch::Matchers::WithinRel(-0.5F, 1e-6f));
};
SECTION("Transpose")
{
SECTION("Transpose") {
// transpose a square matrix
mat3 = mat1.Transpose();
@@ -271,8 +254,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE(mat5.Get(2, 1) == 6);
}
SECTION("Normalize")
{
SECTION("Normalize") {
mat1.Normalize(mat3);
float sqrt_30{sqrt(30)};
@@ -292,8 +274,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
Catch::Matchers::WithinRel(0.957591346325f, 1e-6f));
}
SECTION("GET ROW")
{
SECTION("GET ROW") {
Matrix<1, 2> mat1Rows{};
mat1.GetRow(0, mat1Rows);
REQUIRE(mat1Rows.Get(0, 0) == 1);
@@ -304,8 +285,7 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE(mat1Rows.Get(0, 1) == 4);
}
SECTION("GET COLUMN")
{
SECTION("GET COLUMN") {
Matrix<2, 1> mat1Columns{};
mat1.GetColumn(0, mat1Columns);
REQUIRE(mat1Columns.Get(0, 0) == 1);
@@ -316,12 +296,8 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE(mat1Columns.Get(1, 0) == 4);
}
SECTION("Get Sub-Matrices")
{
Matrix<3, 3> mat4{
1, 2, 3,
4, 5, 6,
7, 8, 9};
SECTION("Get Sub-Matrices") {
Matrix<3, 3> mat4{1, 2, 3, 4, 5, 6, 7, 8, 9};
Matrix<2, 2> mat5 = mat4.SubMatrix<2, 2, 0, 0>();
@@ -347,12 +323,8 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE(mat7.Get(0, 2) == 3);
}
SECTION("Set Sub-Matrices")
{
Matrix<3, 3> startMatrix{
1, 2, 3,
4, 5, 6,
7, 8, 9};
SECTION("Set Sub-Matrices") {
Matrix<3, 3> startMatrix{1, 2, 3, 4, 5, 6, 7, 8, 9};
Matrix<3, 3> mat4 = startMatrix;
Matrix<2, 2> mat5{10, 11, 12, 13};
@@ -382,143 +354,3 @@ TEST_CASE("Elementary Matrix Operations", "Matrix")
REQUIRE(mat4.Get(0, 2) == 12);
}
}
// basically re-run all of the previous tests with huge matrices and time the
// results.
TEST_CASE("Timing Tests", "Matrix")
{
std::array<float, 50 * 50> arr1{};
for (uint16_t i{0}; i < 50 * 50; i++)
{
arr1[i] = i;
}
std::array<float, 50 * 50> arr2{5, 6, 7, 8};
for (uint16_t i{50 * 50}; i < 2 * 50 * 50; i++)
{
arr2[i] = i;
}
Matrix<50, 50> mat1{arr1};
Matrix<50, 50> mat2{arr2};
Matrix<50, 50> mat3{};
// A smaller matrix to use for really badly optimized operations
Matrix<4, 4> mat4{1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16};
Matrix<4, 4> mat5{};
SECTION("Addition")
{
for (uint32_t i{0}; i < 10000; i++)
{
mat3 = mat1 + mat2;
}
}
SECTION("Subtraction")
{
for (uint32_t i{0}; i < 10000; i++)
{
mat3 = mat1 - mat2;
}
}
SECTION("Multiplication")
{
for (uint32_t i{0}; i < 1000; i++)
{
mat3 = mat1 * mat2;
}
}
SECTION("Scalar Multiplication")
{
for (uint32_t i{0}; i < 10000; i++)
{
mat3 = mat1 * 3;
}
}
SECTION("Element Multiply")
{
for (uint32_t i{0}; i < 10000; i++)
{
mat1.ElementMultiply(mat2, mat3);
}
}
SECTION("Element Divide")
{
for (uint32_t i{0}; i < 10000; i++)
{
mat1.ElementDivide(mat2, mat3);
}
}
SECTION("Minor Matrix")
{
// what about matrices of 0,0 or 1,1?
// minor matrix for 2x2 matrix
Matrix<49, 49> minorMat1{};
for (uint32_t i{0}; i < 10000; i++)
{
mat1.MinorMatrix(minorMat1, 0, 0);
}
}
SECTION("Determinant")
{
for (uint32_t i{0}; i < 100000; i++)
{
float det1 = mat4.Det();
}
}
SECTION("Matrix of Minors")
{
for (uint32_t i{0}; i < 100000; i++)
{
mat4.MatrixOfMinors(mat5);
}
}
SECTION("Invert")
{
for (uint32_t i{0}; i < 100000; i++)
{
mat5 = mat4.Invert();
}
};
SECTION("Transpose")
{
for (uint32_t i{0}; i < 10000; i++)
{
mat3 = mat1.Transpose();
}
}
SECTION("Normalize")
{
for (uint32_t i{0}; i < 10000; i++)
{
mat1.Normalize(mat3);
}
}
SECTION("GET ROW")
{
Matrix<1, 50> mat1Rows{};
for (uint32_t i{0}; i < 1000000; i++)
{
mat1.GetRow(0, mat1Rows);
}
}
SECTION("GET COLUMN")
{
Matrix<50, 1> mat1Columns{};
for (uint32_t i{0}; i < 1000000; i++)
{
mat1.GetColumn(0, mat1Columns);
}
}
}

View File

@@ -0,0 +1,119 @@
// include the unit test framework first
#include <catch2/catch_test_macros.hpp>
#include <catch2/matchers/catch_matchers_floating_point.hpp>
// include the module you're going to test next
#include "Matrix.hpp"
// any other libraries
#include <array>
#include <cmath>
// basically re-run all of the matrix tests with huge matrices and time the
// results.
TEST_CASE("Timing Tests", "Matrix") {
std::array<float, 50 * 50> arr1{};
for (uint16_t i{0}; i < 50 * 50; i++) {
arr1[i] = i;
}
std::array<float, 50 * 50> arr2{5, 6, 7, 8};
for (uint16_t i{50 * 50}; i < 2 * 50 * 50; i++) {
arr2[i] = i;
}
Matrix<50, 50> mat1{arr1};
Matrix<50, 50> mat2{arr2};
Matrix<50, 50> mat3{};
// A smaller matrix to use for really badly optimized operations
Matrix<4, 4> mat4{1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16};
Matrix<4, 4> mat5{};
SECTION("Addition") {
for (uint32_t i{0}; i < 10000; i++) {
mat3 = mat1 + mat2;
}
}
SECTION("Subtraction") {
for (uint32_t i{0}; i < 10000; i++) {
mat3 = mat1 - mat2;
}
}
SECTION("Multiplication") {
for (uint32_t i{0}; i < 1000; i++) {
mat3 = mat1 * mat2;
}
}
SECTION("Scalar Multiplication") {
for (uint32_t i{0}; i < 10000; i++) {
mat3 = mat1 * 3;
}
}
SECTION("Element Multiply") {
for (uint32_t i{0}; i < 10000; i++) {
mat1.ElementMultiply(mat2, mat3);
}
}
SECTION("Element Divide") {
for (uint32_t i{0}; i < 10000; i++) {
mat1.ElementDivide(mat2, mat3);
}
}
SECTION("Minor Matrix") {
// what about matrices of 0,0 or 1,1?
// minor matrix for 2x2 matrix
Matrix<49, 49> minorMat1{};
for (uint32_t i{0}; i < 10000; i++) {
mat1.MinorMatrix(minorMat1, 0, 0);
}
}
SECTION("Determinant") {
for (uint32_t i{0}; i < 100000; i++) {
float det1 = mat4.Det();
}
}
SECTION("Matrix of Minors") {
for (uint32_t i{0}; i < 100000; i++) {
mat4.MatrixOfMinors(mat5);
}
}
SECTION("Invert") {
for (uint32_t i{0}; i < 100000; i++) {
mat5 = mat4.Invert();
}
};
SECTION("Transpose") {
for (uint32_t i{0}; i < 10000; i++) {
mat3 = mat1.Transpose();
}
}
SECTION("Normalize") {
for (uint32_t i{0}; i < 10000; i++) {
mat1.Normalize(mat3);
}
}
SECTION("GET ROW") {
Matrix<1, 50> mat1Rows{};
for (uint32_t i{0}; i < 1000000; i++) {
mat1.GetRow(0, mat1Rows);
}
}
SECTION("GET COLUMN") {
Matrix<50, 1> mat1Columns{};
for (uint32_t i{0}; i < 1000000; i++) {
mat1.GetColumn(0, mat1Columns);
}
}
}

View File

@@ -1,7 +0,0 @@
# be in the root folder of this project when you run this
cd build/
ninja matrix-tests
echo "Running tests. This will take a while."
./unit-tests/matrix-tests -n "Timing Tests" -d yes > ../unit-tests/matrix-test-timings-temp.txt
cd ../unit-tests/
python3 test-timing-post-process.py

View File

@@ -0,0 +1,56 @@
Randomness seeded to: 2444679151
0.180 s: Addition
0.180 s: Timing Tests
0.177 s: Subtraction
0.177 s: Timing Tests
1.868 s: Multiplication
1.868 s: Timing Tests
0.127 s: Scalar Multiplication
0.127 s: Timing Tests
0.173 s: Element Multiply
0.173 s: Timing Tests
0.178 s: Element Divide
0.178 s: Timing Tests
0.172 s: Minor Matrix
0.172 s: Timing Tests
0.103 s: Determinant
0.103 s: Timing Tests
0.411 s: Matrix of Minors
0.411 s: Timing Tests
0.109 s: Invert
0.109 s: Timing Tests
0.122 s: Transpose
0.122 s: Timing Tests
0.190 s: Normalize
0.190 s: Timing Tests
0.006 s: GET ROW
0.006 s: Timing Tests
0.235 s: GET COLUMN
0.235 s: Timing Tests
===============================================================================
test cases: 1 | 1 passed
assertions: - none -
Command being timed: "build/unit-tests/matrix-timing-tests -d yes"
User time (seconds): 4.05
System time (seconds): 0.00
Percent of CPU this job got: 100%
Elapsed (wall clock) time (h:mm:ss or m:ss): 0:04.05
Average shared text size (kbytes): 0
Average unshared data size (kbytes): 0
Average stack size (kbytes): 0
Average total size (kbytes): 0
Maximum resident set size (kbytes): 3200
Average resident set size (kbytes): 0
Major (requiring I/O) page faults: 184
Minor (reclaiming a frame) page faults: 171
Voluntary context switches: 1
Involuntary context switches: 26
Swaps: 0
File system inputs: 12
File system outputs: 1
Socket messages sent: 0
Socket messages received: 0
Signals delivered: 0
Page size (bytes): 4096
Exit status: 0