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Canonical Quaternion with tests (#81)

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kritz
2019-08-22 15:05:14 +02:00
committed by Julian Kent
parent 56b069956d
commit 84b3da227c
2 changed files with 35 additions and 0 deletions
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test/attitude.cpp
+11
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@@ -258,6 +258,17 @@ int main()
TEST(fabs(q_check(2) + q(2)) < eps);
TEST(fabs(q_check(3) + q(3)) < eps);
// quaternion canonical
Quatf q_non_canonical(-0.7f,0.4f, 0.3f, -0.3f);
Quatf q_canonical(0.7f,-0.4f, -0.3f, 0.3f);
Quatf q_canonical_ref(0.7f,-0.4f, -0.3f, 0.3f);
TEST(isEqual(q_non_canonical.canonical(),q_canonical_ref));
TEST(isEqual(q_canonical.canonical(),q_canonical_ref));
q_non_canonical.canonicalize();
q_canonical.canonicalize();
TEST(isEqual(q_non_canonical,q_canonical_ref));
TEST(isEqual(q_canonical,q_canonical_ref));
// non-unit quaternion invese
Quatf qI(1.0f, 0.0f, 0.0f, 0.0f);
Quatf q_nonunit(0.1f, 0.2f, 0.3f, 0.4f);