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test_mathlib fixed

This commit is contained in:
Anton Babushkin 2015-04-12 17:13:30 +02:00
parent 7761e461e9
commit 3b89a2533f
1 changed files with 6 additions and 6 deletions
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12
src/systemcmds/tests/test_mathlib.cpp
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@ -300,7 +300,7 @@ int test_mathlib(int argc, char *argv[])
R.from_euler(roll, pitch, yaw);
q.from_euler(roll, pitch, yaw);
vector_r = R * vector;
vector_q = q.rotate(vector);
vector_q = q.conjugate(vector);
for (int i = 0; i < 3; i++) {
if (fabsf(vector_r(i) - vector_q(i)) > tol) {
@ -315,7 +315,7 @@ int test_mathlib(int argc, char *argv[])
// test some values calculated with matlab
tol = 0.0001f;
q.from_euler(M_PI_2_F, 0.0f, 0.0f);
vector_q = q.rotate(vector);
vector_q = q.conjugate(vector);
Vector<3> vector_true = {1.00f, -1.00f, 1.00f};
for (unsigned i = 0; i < 3; i++) {
@ -326,7 +326,7 @@ int test_mathlib(int argc, char *argv[])
}
q.from_euler(0.3f, 0.2f, 0.1f);
vector_q = q.rotate(vector);
vector_q = q.conjugate(vector);
vector_true = {1.1566, 0.7792, 1.0273};
for (unsigned i = 0; i < 3; i++) {
@ -337,7 +337,7 @@ int test_mathlib(int argc, char *argv[])
}
q.from_euler(-1.5f, -0.2f, 0.5f);
vector_q = q.rotate(vector);
vector_q = q.conjugate(vector);
vector_true = {0.5095, 1.4956, -0.7096};
for (unsigned i = 0; i < 3; i++) {
@ -348,7 +348,7 @@ int test_mathlib(int argc, char *argv[])
}
q.from_euler(M_PI_2_F, -M_PI_2_F, -M_PI_F / 3.0f);
vector_q = q.rotate(vector);
vector_q = q.conjugate(vector);
vector_true = { -1.3660, 0.3660, 1.0000};
for (unsigned i = 0; i < 3; i++) {
@ -359,4 +359,4 @@ int test_mathlib(int argc, char *argv[])
}
}
return rc;
}
}