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matrix scalar pre multiplication and general scalar multiplication for

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quaternions
This commit is contained in:
Thomas Gubler
2015-12-26 13:15:39 +01:00
parent 99ac532746
commit 45e6012818
3 changed files with 31 additions and 0 deletions
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test/attitude.cpp
+13
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@@ -133,6 +133,19 @@ int main()
q_check *= q_check;
assert(q_prod_check == q_check);
// Quaternion scalar multiplication
float scalar = 0.5;
Quatf q_scalar_mul(1.0f, 2.0f, 3.0f, 4.0f);
Quatf q_scalar_mul_check(1.0f * scalar, 2.0f * scalar,
3.0f * scalar, 4.0f * scalar);
Quatf q_scalar_mul_res = scalar * q_scalar_mul;
assert(q_scalar_mul_check == q_scalar_mul_res);
Quatf q_scalar_mul_res2 = q_scalar_mul * scalar;
assert(q_scalar_mul_check == q_scalar_mul_res2);
Quatf q_scalar_mul_res3(q_scalar_mul);
q_scalar_mul_res3 *= scalar;
assert(q_scalar_mul_check == q_scalar_mul_res3);
};
/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */