From 37b00b088072f721f6a05a641a78ffb23cb7c3fc Mon Sep 17 00:00:00 2001 From: James Goppert Date: Tue, 16 Aug 2016 11:37:45 -0400 Subject: [PATCH] Added check or consistency of dcm and quaternion product. --- test/attitude.cpp | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/test/attitude.cpp b/test/attitude.cpp index d25a6a756f..c365aeda0f 100644 --- a/test/attitude.cpp +++ b/test/attitude.cpp @@ -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 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)))); }; /* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */