From ab0d335b61f9869d8a958c7ac84ea80ecba8d42e Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Crozet=20S=C3=A9bastien?= <developer@crozet.re>
Date: Thu, 25 Feb 2021 13:16:04 +0100
Subject: [PATCH] Fix tests for the UDU decomposition.

---
 src/linalg/udu.rs   |  9 ++++++---
 tests/linalg/udu.rs | 21 +++++++--------------
 2 files changed, 13 insertions(+), 17 deletions(-)

diff --git a/src/linalg/udu.rs b/src/linalg/udu.rs
index 46b1497c..346753b2 100644
--- a/src/linalg/udu.rs
+++ b/src/linalg/udu.rs
@@ -7,7 +7,7 @@ use crate::dimension::Dim;
 use crate::storage::Storage;
 use simba::scalar::RealField;
 
-/// UDU factorization
+/// UDU factorization.
 #[cfg_attr(feature = "serde-serialize", derive(Serialize, Deserialize))]
 #[cfg_attr(
     feature = "serde-serialize",
@@ -42,8 +42,11 @@ impl<N: RealField, D: Dim> UDU<N, D>
 where
     DefaultAllocator: Allocator<N, D> + Allocator<N, D, D>,
 {
-    /// Computes the UDU^T factorization
-    /// The input matrix `p` is assumed to be symmetric and this decomposition will only read the upper-triangular part of `p`.
+    /// Computes the UDU^T factorization.
+    ///
+    /// The input matrix `p` is assumed to be symmetric and this decomposition will only read
+    /// the upper-triangular part of `p`.
+    ///
     /// Ref.: "Optimal control and estimation-Dover Publications", Robert F. Stengel, (1994) page 360
     pub fn new(p: MatrixN<N, D>) -> Self {
         let n = p.ncols();
diff --git a/tests/linalg/udu.rs b/tests/linalg/udu.rs
index c7f416d7..95cdc9c2 100644
--- a/tests/linalg/udu.rs
+++ b/tests/linalg/udu.rs
@@ -1,5 +1,4 @@
-use na::Matrix3;
-use na::UDU;
+use na::{Matrix3, UDU};
 
 #[test]
 #[rustfmt::skip]
@@ -40,19 +39,14 @@ mod quickcheck_tests {
     macro_rules! gen_tests(
         ($module: ident, $scalar: ty) => {
             mod $module {
-                use std::cmp;
-                use na::{DMatrix, Matrix4};
+                use na::{UDU, DMatrix, Matrix4};
                 #[allow(unused_imports)]
                 use crate::core::helper::{RandScalar, RandComplex};
 
                 quickcheck! {
-                    fn udu(m: DMatrix<$scalar>) -> bool {
-                        let mut m = m;
-                        if m.len() == 0 {
-                             m = DMatrix::<$scalar>::new_random(1, 1);
-                        }
-
-                        let m = m.map(|e| e.0);
+                    fn udu(n: usize) -> bool {
+                        let n = std::cmp::max(1, std::cmp::min(n, 10));
+                        let m = DMatrix::<$scalar>::new_random(n, n).map(|e| e.0).hermitian_part();
 
                         let udu = UDU::new(m.clone());
                         let p = &udu.u * &udu.d_matrix() * &udu.u.transpose();
@@ -61,18 +55,17 @@ mod quickcheck_tests {
                     }
 
                     fn udu_static(m: Matrix4<$scalar>) -> bool {
-                        let m = m.map(|e| e.0);
+                        let m = m.map(|e| e.0).hermitian_part();
 
                         let udu = UDU::new(m.clone());
                         let p = udu.u * udu.d_matrix() * udu.u.transpose();
 
-                        relative_eq!(m, p, epsilon = 3.0e-16)
+                        relative_eq!(m, p, epsilon = 1.0e-7)
                     }
                 }
             }
         }
     );
 
-    gen_tests!(complex, RandComplex<f64>);
     gen_tests!(f64, RandScalar<f64>);
 }