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Pr update matrix (#15520)

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* Update submodule Matrix

* replace deprecated matrix functions

* update submodule ECL

* Update Matrix submodule

* Use absolute value of loiter radius

* Update ECL submodule
This commit is contained in:
kritz
2020-08-11 10:08:41 +02:00
committed by GitHub
parent 75ab105605
commit 9d962cdfbc
7 changed files with 10 additions and 12 deletions
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src/systemcmds/tests/test_matrix.cpp
+3 -3
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@@ -305,21 +305,21 @@ bool MatrixTest::attitudeTests()
// get rotation axis from quaternion (nonzero rotation)
q = Quatf(cosf(1.0f / 2), 0.0f, sinf(1.0f / 2), 0.0f);
rot = q.to_axis_angle();
rot = matrix::AxisAngle<float>(q);
ut_test(fabs(rot(0)) < eps);
ut_test(fabs(rot(1) - 1.0f) < eps);
ut_test(fabs(rot(2)) < eps);
// get rotation axis from quaternion (zero rotation)
q = Quatf(1.0f, 0.0f, 0.0f, 0.0f);
rot = q.to_axis_angle();
rot = matrix::AxisAngle<float>(q);
ut_test(fabs(rot(0)) < eps);
ut_test(fabs(rot(1)) < eps);
ut_test(fabs(rot(2)) < eps);
// from axis angle (zero rotation)
rot(0) = rot(1) = rot(2) = 0.0f;
q.from_axis_angle(rot, 0.0f);
q = Quaternion<float>(matrix::AxisAngle<float>(rot));
q_true = Quatf(1.0f, 0.0f, 0.0f, 0.0f);
ut_test(fabs(q(0) - q_true(0)) < eps);
ut_test(fabs(q(1) - q_true(1)) < eps);