From 26c9ca115f0ad19a383a87c7d302590cce43fe9c Mon Sep 17 00:00:00 2001
From: Jacob Dahl <37091262+dakejahl@users.noreply.github.com>
Date: Mon, 16 Mar 2026 14:52:23 -0800
Subject: [PATCH] fix(mathlib): rename euler312YawTest to match tested function
 (#26753)

* 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
---
 src/lib/mathlib/math/test/UtilitiesTest.cpp | 22 ++++++++++++++++++++-
 1 file changed, 21 insertions(+), 1 deletion(-)

diff --git a/src/lib/mathlib/math/test/UtilitiesTest.cpp b/src/lib/mathlib/math/test/UtilitiesTest.cpp
index 017a38d49e..e46eb1a645 100644
--- a/src/lib/mathlib/math/test/UtilitiesTest.cpp
+++ b/src/lib/mathlib/math/test/UtilitiesTest.cpp
@@ -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);