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Quaternion: added tests for the corner cases of Dcm to quaternion conversion

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Matthias Grob
2016-12-14 18:25:06 +01:00
parent 2f4427a923
commit 47c0a93140
1 changed files with 11 additions and 0 deletions
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test/attitude.cpp
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@@ -322,6 +322,17 @@ int main()
Dcmf dcm4(Eulerf(4, 5, 6));
Dcmf dcm34 = dcm3 * dcm4;
TEST(isEqual(Eulerf(Quatf(dcm4)*Quatf(dcm3)), Eulerf(dcm34)));
// check corner cases of matrix to quaternion conversion
q = Quatf(0,1,0,0); // 180 degree rotation around the x axis
R = Dcmf(q);
TEST(isEqual(q, Quatf(R)));
q = Quatf(0,0,1,0); // 180 degree rotation around the y axis
R = Dcmf(q);
TEST(isEqual(q, Quatf(R)));
q = Quatf(0,0,0,1); // 180 degree rotation around the z axis
R = Dcmf(q);
TEST(isEqual(q, Quatf(R)));
};
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