Work on testing.

test/attitude.cpp

@@ -0,0 +1,73 @@
+#include <cassert>
+#include <cstdio>
+
+#include "Quaternion.hpp"
+#include "Vector3.hpp"
+#include "matrix.hpp"
+
+using namespace matrix;
+
+template class Quaternion<float>;
+template class Euler<float>;
+template class Dcm<float>;
+
+int main()
+{
+    double eps = 1e-6;
+
+    // check data
+    Eulerf euler_check(0.1, 0.2, 0.3);
+    Quatf q_check(0.98334744, 0.0342708, 0.10602051, .14357218);
+    float dcm_data[] =  {
+        0.93629336, -0.27509585,  0.21835066,
+        0.28962948,  0.95642509, -0.03695701,
+        -0.19866933,  0.0978434 ,  0.97517033};
+    Dcmf dcm_check(dcm_data);
+
+    // euler ctor
+    euler_check.T().print();
+    assert((euler_check - Vector3f(0.1, 0.2, 0.3)).norm() < eps);
+
+    // quaternion ctor
+    Quatf q(1, 2, 3, 4);
+    assert(q(0) == 1);
+    assert(q(1) == 2);
+    assert(q(2) == 3);
+    assert(q(3) == 4);
+
+    q.T().print();
+    q.normalize();
+    q.T().print();
+    assert((q - Quatf(
+        0.18257419,  0.36514837,  0.54772256,  0.73029674)
+        ).norm() < eps);
+
+    // euler to quaternion
+    q = Quatf(euler_check);
+    q.T().print();
+    assert((q - q_check).norm() < eps);
+
+    // euler to dcm
+    Dcmf dcm(euler_check);
+    dcm.print();
+    assert((dcm - dcm_check).abs().max() < eps);
+
+    // quaternion to euler
+    Eulerf e1(q_check);
+    assert((e1 - euler_check).norm() < eps);
+
+    // quaternion to dcm
+    Dcmf dcm1(q_check);
+    assert((dcm1 - dcm_check).abs().max() < eps);
+
+    // dcm to euler
+    Eulerf e2(dcm_check);
+    assert((e2 - euler_check).norm() < eps);
+
+    // dcm to quaterion
+    Quatf q2(dcm_check);
+    assert((q2 - q_check).norm() < eps);
+
+}
+
+/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */