diff options
Diffstat (limited to 'apps/mathlib/math/EulerAngles.cpp')
-rw-r--r-- | apps/mathlib/math/EulerAngles.cpp | 26 |
1 files changed, 15 insertions, 11 deletions
diff --git a/apps/mathlib/math/EulerAngles.cpp b/apps/mathlib/math/EulerAngles.cpp index 8991d5623..2e96fef4c 100644 --- a/apps/mathlib/math/EulerAngles.cpp +++ b/apps/mathlib/math/EulerAngles.cpp @@ -97,23 +97,27 @@ EulerAngles::~EulerAngles() int __EXPORT eulerAnglesTest() { printf("Test EulerAngles\t: "); - EulerAngles euler(1, 2, 3); + EulerAngles euler(0.1f, 0.2f, 0.3f); // test ctor - ASSERT(vectorEqual(Vector3(1, 2, 3), euler)); - ASSERT(equal(euler.getPhi(), 1)); - ASSERT(equal(euler.getTheta(), 2)); - ASSERT(equal(euler.getPsi(), 3)); + ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler)); + ASSERT(equal(euler.getPhi(), 0.1f)); + ASSERT(equal(euler.getTheta(), 0.2f)); + ASSERT(equal(euler.getPsi(), 0.3f)); // test dcm ctor + euler = Dcm(EulerAngles(0.1f, 0.2f, 0.3f)); + ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler)); + + // test quat ctor + euler = Quaternion(EulerAngles(0.1f, 0.2f, 0.3f)); + ASSERT(vectorEqual(Vector3(0.1f, 0.2f, 0.3f), euler)); // test assignment - euler.setPhi(4); - ASSERT(equal(euler.getPhi(), 4)); - euler.setTheta(5); - ASSERT(equal(euler.getTheta(), 5)); - euler.setPsi(6); - ASSERT(equal(euler.getPsi(), 6)); + euler.setPhi(0.4f); + euler.setTheta(0.5f); + euler.setPsi(0.6f); + ASSERT(vectorEqual(Vector3(0.4f, 0.5f, 0.6f), euler)); printf("PASS\n"); return 0; |