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Added dcm quat prod consistency check.

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James Goppert
2016-08-16 11:33:56 -04:00
parent 4f13809420
commit 1a87564b85
1 changed files with 6 additions and 0 deletions
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test/attitude.cpp
+6
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@@ -169,6 +169,12 @@ int main()
q4 *= q3; q4 *= q3;
TEST(isEqual(Quatf(-1, 0, 0, 0), q4)); TEST(isEqual(Quatf(-1, 0, 0, 0), q4));
// check consistentcy of quaternion and dcm product
Dcmf dcm3(Eulerf(1, 2, 3));
Dcmf dcm4(Eulerf(4, 5, 6));
Dcmf dcm34 = dcm3*dcm4;
TEST(isEqual(Quatf(dcm3)*Quatf(dcm4), Quatf(dcm34)));
// quaternion derivate // quaternion derivate
Quatf q1(0, 1, 0, 0); Quatf q1(0, 1, 0, 0);
Vector<float, 4> q1_dot = q1.derivative(Vector3f(1, 2, 3)); Vector<float, 4> q1_dot = q1.derivative(Vector3f(1, 2, 3));