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Added axis angle attitude representation. (#25)

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James Goppert 2016-07-05 20:59:42 -04:00 committed by GitHub
parent 3320d57f63
commit 0f41af271a
7 changed files with 243 additions and 2 deletions
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31
test/attitude.cpp
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@ -6,9 +6,16 @@
using namespace matrix;
// important to list all classes here for coverage
template class Quaternion<float>;
template class Euler<float>;
template class Dcm<float>;
template class AxisAngle<float>;
template class Scalar<float>;
template class SquareMatrix<float, 2>;
template class Vector<float, 3>;
template class Vector2<float>;
template class Vector3<float>;
int main()
{
@ -238,6 +245,30 @@ int main()
for(int i = 0; i < 4; i++)
TEST(fabsf(q_from_array(i) - q_array[i]) < eps);
// axis angle
AxisAnglef aa_true(Vector3f(1.0f, 2.0f, 3.0f));
TEST(isEqual(aa_true, Vector3f(1.0f, 2.0f, 3.0f)));
AxisAnglef aa_empty;
TEST(isEqual(aa_empty, AxisAnglef(0.0f, 0.0f, 0.0f)));
float aa_data[] = {4.0f, 5.0f, 6.0f};
AxisAnglef aa_data_init(aa_data);
TEST(isEqual(aa_data_init, AxisAnglef(4.0f, 5.0f, 6.0f)));
q = Quatf(-0.29555112749297824f, 0.25532186f, 0.51064372f, 0.76596558f);
AxisAnglef aa_q_init(q);
TEST(isEqual(aa_q_init, AxisAnglef(1.0f, 2.0f, 3.0f)));
AxisAnglef aa_euler_init(Eulerf(0.0f, 0.0f, 0.0f));
TEST(isEqual(aa_euler_init, Vector3f(0.0f, 0.0f, 1.0f)));
Dcmf dcm_aa_check = AxisAnglef(dcm_check);
TEST(isEqual(dcm_aa_check, dcm_check));
AxisAnglef aa_axis_angle_init(Vector3f(1.0f, 2.0f, 3.0f), 3.0f);
TEST(isEqual(aa_axis_angle_init, Vector3f(0.80178373f, 1.60356745f, 2.40535118f)));
TEST(isEqual(Quatf((AxisAnglef(Vector3f(0.0f, 0.0f, 1.0f), 0.0f))),
Quatf(1.0f, 0.0f, 0.0f, 0.0f)));
};
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