From 75399fb15e84faadef014ac74e67089053896498 Mon Sep 17 00:00:00 2001 From: jgoppert Date: Thu, 5 Nov 2015 17:13:03 -0500 Subject: [PATCH] Cleanup of printing. --- test/attitude.cpp | 29 +++++++++++++++++++++-------- 1 file changed, 21 insertions(+), 8 deletions(-) diff --git a/test/attitude.cpp b/test/attitude.cpp index 32020bccd6..5ce509701b 100644 --- a/test/attitude.cpp +++ b/test/attitude.cpp @@ -96,22 +96,35 @@ int main() // euler gimbal lock check // note if theta = pi/2, then roll is set to zero float pi_2 = float(M_PI_2); - Eulerf euler_gimbal_lock(0.0f, pi_2, 0.0f); + Eulerf euler_gimbal_lock(0.1f, pi_2, 0.2f); Dcmf dcm_lock(euler_gimbal_lock); Eulerf euler_gimbal_lock_out(dcm_lock); - euler_gimbal_lock_out.print(); - euler_gimbal_lock.print(); + euler_gimbal_lock_out.T().print(); + euler_gimbal_lock.T().print(); assert(euler_gimbal_lock == euler_gimbal_lock_out); // note if theta = pi/2, then roll is set to zero - Eulerf euler_gimbal_lock2(0.0f, -pi_2, 0.0f); + Eulerf euler_gimbal_lock2(0.1f, -pi_2, 0.2f); Dcmf dcm_lock2(euler_gimbal_lock2); Eulerf euler_gimbal_lock_out2(dcm_lock2); - euler_gimbal_lock_out2.print(); - euler_gimbal_lock2.print(); + euler_gimbal_lock_out2.T().print(); + euler_gimbal_lock2.T().print(); assert(euler_gimbal_lock2 == euler_gimbal_lock_out2); - -} + // quaterion copy ctors + float data_v4[] = {1, 2, 3, 4}; + Vector v4(data_v4); + Quatf q_from_v(v4); + assert(q_from_v == v4); + + Matrix m4(data_v4); + Quatf q_from_m(m4); + assert(q_from_m == m4); + + // quaternion derivate + Vector q_dot = q.derivative(Vector3f(1, 2, 3)); + printf("q_dot:\n"); + q_dot.T().print(); +}; /* vim: set et fenc=utf-8 ff=unix sts=0 sw=4 ts=4 : */