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fix(mathlib): rename euler312YawTest to match tested function (#26753)

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* fix(mathlib): rename euler312YawTest to match tested function

The test calls getEuler321Yaw() but was named euler312YawTest.

Fixes #22103

* test(mathlib): add unit test for getEuler312Yaw

The existing test was named euler312YawTest but actually tested
getEuler321Yaw. Rename it and add a proper test for getEuler312Yaw
that verifies the quaternion and DCM overloads agree, and that
312 and 321 yaw match for a pure-yaw rotation.

Fixes #22103
This commit is contained in:
Jacob Dahl
2026-03-16 14:52:23 -08:00
committed by GitHub
parent ba5b96edbe
commit 26c9ca115f
1 changed files with 21 additions and 1 deletions
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src/lib/mathlib/math/test/UtilitiesTest.cpp
+21 -1
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@@ -44,7 +44,7 @@
using namespace math::Utilities;
TEST(euler312YawTest, fromQuaternion)
TEST(euler321YawTest, fromQuaternion)
{
matrix::Quatf q1(3.5f, 2.4f, -0.5f, -3.f);
q1.normalize();
@@ -57,6 +57,26 @@ TEST(euler312YawTest, fromQuaternion)
EXPECT_FLOAT_EQ(euler2(2), getEuler321Yaw(q2));
}
TEST(euler312YawTest, fromQuaternion)
{
// Use orientations with more pitch than roll so 312 sequence is appropriate
matrix::Quatf q1(3.5f, 2.4f, -0.5f, -3.f);
q1.normalize();
const matrix::Dcmf R1(q1);
EXPECT_FLOAT_EQ(getEuler312Yaw(R1), getEuler312Yaw(q1));
matrix::Quatf q2(0.f, 0, -1.f, 0.f);
q2.normalize();
const matrix::Dcmf R2(q2);
EXPECT_FLOAT_EQ(getEuler312Yaw(R2), getEuler312Yaw(q2));
// Pure yaw rotation — 312 and 321 yaw should agree
matrix::Quatf q3(matrix::Eulerf(0.f, 0.f, 1.2f));
const matrix::Dcmf R3(q3);
EXPECT_FLOAT_EQ(getEuler312Yaw(R3), getEuler312Yaw(q3));
EXPECT_NEAR(getEuler312Yaw(q3), getEuler321Yaw(q3), 1e-5f);
}
TEST(shouldUse321RotationSequenceTest, pitch90)
{
matrix::Eulerf euler(0.f, math::radians(90), 0.f);