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This commit is contained in:
Daniel Agar
2017-03-18 22:00:29 -04:00
committed by Lorenz Meier
parent 412f956636
commit 4b8bedef48
12 changed files with 53 additions and 60 deletions
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src/systemcmds/tests/test_matrix.cpp
+5 -2
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@@ -64,9 +64,11 @@ using matrix::Quatf;
using matrix::Eulerf;
using matrix::Vector3f;
using std::fabs;
bool MatrixTest::attitudeTests()
{
double eps = 1e-6;
float eps = 1e-6;
// check data
Eulerf euler_check(0.1f, 0.2f, 0.3f);
@@ -207,8 +209,9 @@ bool MatrixTest::attitudeTests()
Quatf q_from_m(m4);
ut_test(isEqual(q_from_m, m4));
// quaternion derivate
// quaternion derivative
Vector<float, 4> q_dot = q.derivative1(Vector3f(1, 2, 3));
(void)q_dot;
// quaternion product
Quatf q_prod_check(0.93394439f, 0.0674002f, 0.20851f, 0.28236266f);