fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 22:53:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Fixed quaternion unit test.

Browse Source
This commit is contained in:
jgoppert
2015-11-04 00:48:59 -05:00
parent c84e934909
commit 12713105b8
2 changed files with 10 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
matrix/Dcm.hpp
+1
View File
@@ -28,6 +28,7 @@ public:
Dcm() : Matrix<Type, 3, 3>()
{
Matrix<Type, 3, 3>::setIdentity();
}
Dcm(const Quaternion<Type> & q) {
test/quaternion.cpp
+9 -8
View File
@@ -21,17 +21,18 @@ int main()
// test euler ctor
q = Quatf(Eulerf(0.1f, 0.2f, 0.3f));
assert((q - Quatf(0.983347f, 0.034271f, 0.106021f, 0.143572f)).norm() < 1e-3);
assert((q - Quatf(0.983347f, 0.034271f, 0.106021f, 0.143572f)).norm() < 1e-5);
// test dcm ctor
//q = Quatf(Dcmf());
//assert(q == Quatf(1.0f, 0.0f, 0.0f, 0.0f));
q = Quatf(Dcmf());
assert(q == Quatf(1.0f, 0.0f, 0.0f, 0.0f));
// TODO test derivative
// test accessors
//q(0) = 0.1f;
//q(1) = 0.2f;
//q(2) = 0.3f;
//q(3) = 0.4f;
//assert(q == Quatf(0.1f, 0.2f, 0.3f, 0.4f));
q(0) = 0.1f;
q(1) = 0.2f;
q(2) = 0.3f;
q(3) = 0.4f;
assert(q == Quatf(0.1f, 0.2f, 0.3f, 0.4f));
return 0;
}