[math] fix matrix vector multiplication & add unittest

src/modm/math/geometry/vector3.hpp

@@ -205,7 +205,7 @@ namespace modm
 	template<typename T, typename U>
 	static inline Vector<U, 3> operator * (const Matrix<T, 3, 3> &lhs, const Vector<U, 3> &rhs)
 	{
-		return lhs * rhs.asTMatrix();
+		return lhs * rhs.asMatrix();
 	}
 
 

test/modm/math/matrix_vector_test.cpp

@@ -0,0 +1,51 @@
+/*
+ * Copyright (c) 2011, Fabian Greif
+ * Copyright (c) 2012, Niklas Hauser
+ * Copyright (c) 2017, Marten
+ * Copyright (c) 2019, Markus Schmidt
+ * Copyright (c) 2019, Sebastan Birke
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <modm/math/matrix.hpp>
+#include <modm/math/geometry/vector.hpp>
+
+#include "matrix_vector_test.hpp"
+
+void
+MatrixVectorTest::testMatrixVectorMultiplication()
+{
+	const float_t m[] = {
+		5.,
+		8.,
+		-4.,
+		6.,
+		9.,
+		-5.,
+		4.,
+		7.,
+		-2.
+	};
+
+	const float_t v[] = {
+		2.,
+		-3.,
+		1.
+	};
+
+	const modm::Matrix<float_t, 3, 3> a(m);
+	const modm::Vector3f b(v);
+
+	modm::Vector3f c = a * b;
+
+	TEST_ASSERT_EQUALS(c[0], -18);
+	TEST_ASSERT_EQUALS(c[1], -20);
+	TEST_ASSERT_EQUALS(c[2], -15);
+
+}

test/modm/math/matrix_vector_test.hpp

@@ -0,0 +1,23 @@
+/*
+ * Copyright (c) 2009, Martin Rosekeit
+ * Copyright (c) 2009-2011, Fabian Greif
+ * Copyright (c) 2012, Niklas Hauser
+ * Copyright (c) 2019, Markus Schmidt
+ * Copyright (c) 2019, Sebastan Birke
+ *
+ * This file is part of the modm project.
+ *
+ * This Source Code Form is subject to the terms of the Mozilla Public
+ * License, v. 2.0. If a copy of the MPL was not distributed with this
+ * file, You can obtain one at http://mozilla.org/MPL/2.0/.
+ */
+// ----------------------------------------------------------------------------
+
+#include <unittest/testsuite.hpp>
+
+class MatrixVectorTest : public unittest::TestSuite
+{
+public:
+	void
+	testMatrixVectorMultiplication();
+};