Added more warnings, and fixed issues.

test/attitude.cpp

@@ -16,31 +16,31 @@ int main()
     double eps = 1e-6;
 
     // check data
-    Eulerf euler_check(0.1, 0.2, 0.3);
-    Quatf q_check(0.98334744, 0.0342708, 0.10602051, .14357218);
+    Eulerf euler_check(0.1f, 0.2f, 0.3f);
+    Quatf q_check(0.98334744f, 0.0342708f, 0.10602051f, .14357218f);
     float dcm_data[] =  {
-        0.93629336, -0.27509585,  0.21835066,
-        0.28962948,  0.95642509, -0.03695701,
-        -0.19866933,  0.0978434 ,  0.97517033
+        0.93629336f, -0.27509585f,  0.21835066f,
+        0.28962948f,  0.95642509f, -0.03695701f,
+        -0.19866933f,  0.0978434f,  0.97517033f
     };
     Dcmf dcm_check(dcm_data);
 
     // euler ctor
     euler_check.T().print();
-    assert((euler_check - Vector3f(0.1, 0.2, 0.3)).norm() < eps);
+    assert((euler_check - Vector3f(0.1f, 0.2f, 0.3f)).norm() < eps);
 
     // quaternion ctor
     Quatf q(1, 2, 3, 4);
-    assert(q(0) == 1);
-    assert(q(1) == 2);
-    assert(q(2) == 3);
-    assert(q(3) == 4);
+    assert(fabs(q(0) - 1) < eps);
+    assert(fabs(q(1) - 2) < eps);
+    assert(fabs(q(2) - 3) < eps);
+    assert(fabs(q(3) - 4) < eps);
 
     q.T().print();
     q.normalize();
     q.T().print();
     assert((q - Quatf(
-                0.18257419,  0.36514837,  0.54772256,  0.73029674)
+                0.18257419f,  0.36514837f,  0.54772256f,  0.73029674f)
            ).norm() < eps);
 
     // euler to quaternion