Fix for issue #35

Author: jamesgunnfiveai

orocos_bfl/src/wrappers/matrix/matrix_BOOST.cpp

@@ -380,7 +380,7 @@ MySymmetricMatrix MySymmetricMatrix::inverse() const
   unsigned int r = this->rows();
   assert(r == this->columns());
   const BoostMatrix& A = (*this);
-  BoostSymmetricMatrix Ai(r,r);
+  BoostMatrix Ai(r,r);
   switch (r) 
   {
      case 1:
@@ -399,7 +399,7 @@ MySymmetricMatrix MySymmetricMatrix::inverse() const
      }
      default:
      {
-       BoostSymmetricMatrix LU(r,r);
+       BoostMatrix LU(r,r);
        boost::numeric::ublas::permutation_matrix<> ndx(r);
        noalias(LU) = A;
        int res = lu_factorize(LU,ndx);
@@ -409,7 +409,8 @@ MySymmetricMatrix MySymmetricMatrix::inverse() const
        break;
      }
   }
-  return Ai;
+
+  return MySymmetricMatrix(Ai);
 }
 
 double MySymmetricMatrix::determinant() const
@@ -429,7 +430,7 @@ double MySymmetricMatrix::determinant() const
      }
      default:
      {
-        BoostSymmetricMatrix LU(r,r);
+        BoostMatrix LU(r,r);
         boost::numeric::ublas::permutation_matrix<> ndx(r);
         noalias(LU) = A;
         int res = lu_factorize(LU,ndx);

orocos_bfl/tests/matrixwrapper_test.cpp

@@ -554,15 +554,28 @@ MatrixwrapperTest::testMatrixwrapperValue()
 
   // Issue #30
   SymmetricMatrix MI30(c);
-  Rs(1,1) = 3; Rs(1,2) = 2; Rs(1,3) = 0;
-  Rs(2,1) = 2; Rs(2,2) = 2; Rs(2,3) = 0;
-  Rs(3,1) = 0; Rs(3,2) = 0; Rs(3,3) = 0.5;
+  MI30(1,1) = 3; MI30(1,2) = 2; MI30(1,3) = 0;
+  MI30(2,1) = 2; MI30(2,2) = 2; MI30(2,3) = 0;
+  MI30(3,1) = 0; MI30(3,2) = 0; MI30(3,3) = 0.5;
+
+    
 
   // test determinant
   CPPUNIT_ASSERT_EQUAL(approxEqual(Rm.determinant(), 105, epsilon),true);
   CPPUNIT_ASSERT_EQUAL(approxEqual(Rs.determinant(), 45, epsilon),true);
   CPPUNIT_ASSERT_EQUAL(approxEqual(MI30.determinant(), 1, epsilon),true); // Issue #30
 
+  // test symmetric inverse
+  SymmetricMatrix MI30_inv = MI30.inverse();
+
+  SymmetricMatrix MI30_inv_test(c);
+  MI30_inv_test(1,1) = 1.;  MI30_inv_test(1,2) = -1.; MI30_inv_test(1,3) = 0.;
+  MI30_inv_test(2,1) = -1.; MI30_inv_test(2,2) = 1.5; MI30_inv_test(2,3) = 0.;
+  MI30_inv_test(3,1) = 0.;  MI30_inv_test(3,2) = 0.;  MI30_inv_test(3,3) = 2.;
+
+  CPPUNIT_ASSERT_EQUAL(approxEqual(MI30_inv_test, MI30_inv, epsilon), true);
+ 
+
   // test cholesky
   SymmetricMatrix Ps(c);
   Ps(1,1) = 3;   Ps(1,2) = 2;    Ps(1,3) = 1;