FHWS/Indoor
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fixed some issues

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added new pose/turn detections
new helper classes
define-flags for libEigen
This commit is contained in:
FrankE
2018-09-04 10:49:00 +02:00
parent f990485d44
commit 857d7a1553
51 changed files with 2149 additions and 207 deletions
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82
tests/math/TestQuaternion.cpp Normal file
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#ifdef WITH_TESTS
#include "../Tests.h"
#include "../../math/Quaternion.h"
const float d = 0.00001;
TEST(Quaternion, fromEuler) {
Quaternion q1 = Quaternion::fromEuler(0,0,0);
}
TEST(Quaternion, mul1) {
Quaternion q1 = Quaternion::fromEuler(0.5,0,0);
Quaternion q2 = Quaternion::fromEuler(0.3,0,0);
Quaternion q3 = q1*q2;
ASSERT_NEAR(0.8, q3.toEuler().x, d);
ASSERT_NEAR(0.0, q3.toEuler().y, d);
ASSERT_NEAR(0.0, q3.toEuler().z, d);
}
TEST(Quaternion, mul2) {
Quaternion q1 = Quaternion::fromEuler(0.5, 0.0, 0.0);
Quaternion q2 = Quaternion::fromEuler(0.0, 0.3, 0.0);
Quaternion q3 = Quaternion::fromEuler(0.0, 0.0, 0.2);
Quaternion q4 = q1*q2*q3;
ASSERT_NEAR(0.5, q4.toEuler().x, d);
ASSERT_NEAR(0.3, q4.toEuler().y, d);
ASSERT_NEAR(0.2, q4.toEuler().z, d);
}
TEST(Quaternion, toEuler) {
Quaternion q1 = Quaternion::fromEuler(0,0,0);
ASSERT_NEAR(0, q1.toEuler().x, d);
ASSERT_NEAR(0, q1.toEuler().y, d);
ASSERT_NEAR(0, q1.toEuler().z, d);
{
Quaternion q2 = Quaternion::fromEuler(0.2, 1.0, 1.2);
ASSERT_NEAR(0.2, q2.toEuler().x, d);
ASSERT_NEAR(1.0, q2.toEuler().y, d);
ASSERT_NEAR(1.2, q2.toEuler().z, d);
}
{
Quaternion q = Quaternion::fromEuler(0.5, 0, 0);
ASSERT_NEAR(0.5, q.toEuler().x, d);
ASSERT_NEAR(0.0, q.toEuler().y, d);
ASSERT_NEAR(0.0, q.toEuler().z, d);
}{
Quaternion q = Quaternion::fromEuler(0, 0.5, 0);
ASSERT_NEAR(0.0, q.toEuler().x, d);
ASSERT_NEAR(0.5, q.toEuler().y, d);
ASSERT_NEAR(0.0, q.toEuler().z, d);
}{
Quaternion q = Quaternion::fromEuler(0, 0, 0.5);
ASSERT_NEAR(0.0, q.toEuler().x, d);
ASSERT_NEAR(0.0, q.toEuler().y, d);
ASSERT_NEAR(0.5, q.toEuler().z, d);
}{
Quaternion q = Quaternion::fromEuler(-0.5, 0, 0.5);
ASSERT_NEAR(-0.5, q.toEuler().x, d);
ASSERT_NEAR(0.0, q.toEuler().y, d);
ASSERT_NEAR(0.5, q.toEuler().z, d);
}
}
#endif