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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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65679fbcbb
* added the trace function for a SquareMatrix * added Vector3.hat() and it's counterpart Dcm.vee() for skewsymskew symmetric matrix operations in relation to the cross product see https://en.wikipedia.org/wiki/Hat_operator * Matrix::write_string produced runtime errors when I used it in PX4 posix simulation, i simplified it * a Matrix3f is a SquareMatrix * added tests for SquareMatrix.trace, Vector3.hat and Dcm.vee * added a test for quaternion initialisation from array * preventing buffer overflows in Matrix.write_string method
24 lines
481 B
C++
24 lines
481 B
C++
#include <stdio.h>
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#include "test_macros.hpp"
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#include <matrix/math.hpp>
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using namespace matrix;
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template class SquareMatrix<float, 3>;
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int main()
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{
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Euler<float> euler(0.1f, 0.2f, 0.3f);
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Dcm<float> R(euler);
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Dcm<float> skew = R - R.T();
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Vector3<float> w = skew.vee();
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Vector3<float> w_check(0.1348f, 0.4170f, 0.5647f);
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TEST(isEqual(w, w_check));
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TEST(isEqual(skew, w.hat()));
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return 0;
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}
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/* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */
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