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update matrix and fix test_matrix (#6524)

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This commit is contained in:
Daniel Agar
2017-02-16 00:31:06 -05:00
committed by GitHub
parent 7a77e27a79
commit 9bc5da6d2d
2 changed files with 8 additions and 8 deletions
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src/lib/matrix
+1 -1
Submodule src/lib/matrix updated: c31686379c...e2211c5867
src/systemcmds/tests/test_matrix.cpp
+7 -7
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@@ -4,6 +4,7 @@
#include <matrix/math.hpp> #include <matrix/math.hpp>
#include <matrix/filter.hpp> #include <matrix/filter.hpp>
#include <matrix/integration.hpp> #include <matrix/integration.hpp>
#include <matrix/Quaternion.hpp>
using namespace matrix; using namespace matrix;
@@ -58,10 +59,10 @@ bool MatrixTest::run_tests()
ut_declare_test_c(test_matrix, MatrixTest) ut_declare_test_c(test_matrix, MatrixTest)
using matrix::Dcmf;
template class matrix::Quaternion<float>; using matrix::Quatf;
template class matrix::Euler<float>; using matrix::Eulerf;
template class matrix::Dcm<float>; using matrix::Vector3f;
bool MatrixTest::attitudeTests() bool MatrixTest::attitudeTests()
{ {
@@ -207,11 +208,10 @@ bool MatrixTest::attitudeTests()
ut_test(isEqual(q_from_m, m4)); ut_test(isEqual(q_from_m, m4));
// quaternion derivate // quaternion derivate
Vector<float, 4> q_dot = q.derivative(Vector3f(1, 2, 3)); Vector<float, 4> q_dot = q.derivative1(Vector3f(1, 2, 3));
// quaternion product // quaternion product
Quatf q_prod_check( Quatf q_prod_check(0.93394439f, 0.0674002f, 0.20851f, 0.28236266f);
0.93394439f, 0.0674002f, 0.20851f, 0.28236266f);
ut_test(isEqual(q_prod_check, q_check * q_check)); ut_test(isEqual(q_prod_check, q_check * q_check));
q_check *= q_check; q_check *= q_check;
ut_test(isEqual(q_prod_check, q_check)); ut_test(isEqual(q_prod_check, q_check));