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Rebase of changes to sensor_hil_fixedwing branch.

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This commit is contained in:
James Goppert
2013-01-13 17:09:22 -05:00
parent 0fdf962356
commit 464c5245f2
16 changed files with 618 additions and 256 deletions
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apps/mathlib/math/EulerAngles.cpp
+15 -11
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@@ -97,23 +97,27 @@ EulerAngles::~EulerAngles()
int __EXPORT eulerAnglesTest()
{
printf("Test EulerAngles\t: ");
EulerAngles euler(1, 2, 3);
EulerAngles euler(0.1, 0.2, 0.3);
// 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(0.1, 0.2, 0.3), euler));
ASSERT(equal(euler.getPhi(), 0.1));
ASSERT(equal(euler.getTheta(), 0.2));
ASSERT(equal(euler.getPsi(), 0.3));
// test dcm ctor
euler = Dcm(EulerAngles(0.1,0.2,0.3));
ASSERT(vectorEqual(Vector3(0.1,0.2,0.3),euler));
// test quat ctor
euler = Quaternion(EulerAngles(0.1,0.2,0.3));
ASSERT(vectorEqual(Vector3(0.1,0.2,0.3),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(0.4);
euler.setTheta(0.5);
euler.setPsi(0.6);
ASSERT(vectorEqual(Vector3(0.4,0.5,0.6),euler));
printf("PASS\n");
return 0;