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AP_Math: expand frame transformation test case for quaternions

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Jonathan Challinger 2014-10-19 12:14:31 -07:00 committed by Andrew Tridgell
parent 3befe74afa
commit cdd2199138
1 changed files with 18 additions and 1 deletions
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19
libraries/AP_Math/examples/eulers/eulers.pde
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@ -239,10 +239,27 @@ void test_frame_transforms(void)
hal.console->println("frame transform tests\n");
q.from_euler(ToRad(90), 0, 0);
q.from_euler(ToRad(45), ToRad(45), ToRad(45));
q.normalize();
m.from_euler(ToRad(45), ToRad(45), ToRad(45));
v2 = v = Vector3f(0, 0, 1);
q.earth_to_body(v2);
hal.console->printf("%f %f %f\n", v2.x, v2.y, v2.z);
v2 = m * v;
hal.console->printf("%f %f %f\n\n", v2.x, v2.y, v2.z);
v2 = v = Vector3f(0, 1, 0);
q.earth_to_body(v2);
hal.console->printf("%f %f %f\n", v2.x, v2.y, v2.z);
v2 = m * v;
hal.console->printf("%f %f %f\n\n", v2.x, v2.y, v2.z);
v2 = v = Vector3f(1, 0, 0);
q.earth_to_body(v2);
hal.console->printf("%f %f %f\n", v2.x, v2.y, v2.z);
v2 = m * v;
hal.console->printf("%f %f %f\n", v2.x, v2.y, v2.z);
}
// generate a random float between -1 and 1