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Added check or consistency of dcm and quaternion product.

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This commit is contained in:
James Goppert
2016-08-16 11:37:45 -04:00
parent 1a87564b85
commit 37b00b0880
1 changed files with 6 additions and 6 deletions
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test/attitude.cpp
+6 -6
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@@ -169,12 +169,6 @@ int main()
q4 *= q3;
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
Quatf q1(0, 1, 0, 0);
Vector<float, 4> q1_dot = q1.derivative(Vector3f(1, 2, 3));
@@ -286,6 +280,12 @@ int main()
TEST(isEqual(aa_axis_angle_init.angle(), 3.0f));
TEST(isEqual(Quatf((AxisAnglef(Vector3f(0.0f, 0.0f, 1.0f), 0.0f))),
Quatf(1.0f, 0.0f, 0.0f, 0.0f)));
// 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(Eulerf(Quatf(dcm3)*Quatf(dcm4)), Eulerf(Quatf(dcm34))));
};
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