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mathlib test: Code style fixes

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Lorenz Meier
2015-02-23 23:24:38 +01:00
parent d232f41ce9
commit 71a5351deb
1 changed files with 36 additions and 29 deletions
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src/systemcmds/tests/test_mathlib.cpp
+36 -29
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@@ -160,10 +160,10 @@ int test_mathlib(int argc, char *argv[])
{
// test nonsymmetric +, -, +=, -=
float data1[2][3] = {{1,2,3},{4,5,6}};
float data2[2][3] = {{2,4,6},{8,10,12}};
float data3[2][3] = {{3,6,9},{12,15,18}};
float data1[2][3] = {{1, 2, 3}, {4, 5, 6}};
float data2[2][3] = {{2, 4, 6}, {8, 10, 12}};
float data3[2][3] = {{3, 6, 9}, {12, 15, 18}};
Matrix<2, 3> m1(data1);
Matrix<2, 3> m2(data2);
Matrix<2, 3> m3(data3);
@@ -185,6 +185,7 @@ int test_mathlib(int argc, char *argv[])
}
m1 += m2;
if (m1 != m3) {
warnx("Matrix<2, 3> += Matrix<2, 3> failed!");
m1.print();
@@ -195,6 +196,7 @@ int test_mathlib(int argc, char *argv[])
m1 -= m2;
Matrix<2, 3> m1_orig(data1);
if (m1 != m1_orig) {
warnx("Matrix<2, 3> -= Matrix<2, 3> failed!");
m1.print();
@@ -202,26 +204,27 @@ int test_mathlib(int argc, char *argv[])
m1_orig.print();
rc = 1;
}
}
{
// test conversion rotation matrix to quaternion and back
math::Matrix<3,3> R_orig;
math::Matrix<3,3> R;
math::Matrix<3, 3> R_orig;
math::Matrix<3, 3> R;
math::Quaternion q;
float diff = 0.1f;
float tol = 0.00001f;
for(float roll = -M_PI_F;roll <= M_PI_F;roll+=diff) {
for(float pitch = -M_PI_2_F;pitch <= M_PI_2_F;pitch+=diff) {
for(float yaw = -M_PI_F;yaw <= M_PI_F;yaw+=diff) {
R_orig.from_euler(roll,pitch,yaw);
for (float roll = -M_PI_F; roll <= M_PI_F; roll += diff) {
for (float pitch = -M_PI_2_F; pitch <= M_PI_2_F; pitch += diff) {
for (float yaw = -M_PI_F; yaw <= M_PI_F; yaw += diff) {
R_orig.from_euler(roll, pitch, yaw);
q.from_dcm(R_orig);
R = q.to_dcm();
for(int i = 0;i< 3;i++) {
for(int j=0;j<3;j++) {
if(fabsf(R_orig.data[i][j] - R.data[i][j]) > 0.00001f) {
for (int i = 0; i < 3; i++) {
for (int j = 0; j < 3; j++) {
if (fabsf(R_orig.data[i][j] - R.data[i][j]) > 0.00001f) {
warnx("Quaternion method 'from_dcm' or 'to_dcm' outside tolerance!");
rc = 1;
}
@@ -233,38 +236,42 @@ int test_mathlib(int argc, char *argv[])
// test against some known values
tol = 0.0001f;
math::Quaternion q_true = {1.0f,0.0f,0.0f,0.0f};
math::Quaternion q_true = {1.0f, 0.0f, 0.0f, 0.0f};
R_orig.identity();
q.from_dcm(R_orig);
for(unsigned i = 0;i<4;i++) {
if(fabsf(q.data[i] - q_true.data[i]) > tol) {
for (unsigned i = 0; i < 4; i++) {
if (fabsf(q.data[i] - q_true.data[i]) > tol) {
warnx("Quaternion method 'from_dcm()' outside tolerance!");
rc = 1;
}
}
q_true.from_euler(0.3f,0.2f,0.1f);
q = {0.9833f,0.1436f,0.1060f,0.0343f};
for(unsigned i = 0;i<4;i++) {
if(fabsf(q.data[i] - q_true.data[i]) > tol) {
q_true.from_euler(0.3f, 0.2f, 0.1f);
q = {0.9833f, 0.1436f, 0.1060f, 0.0343f};
for (unsigned i = 0; i < 4; i++) {
if (fabsf(q.data[i] - q_true.data[i]) > tol) {
warnx("Quaternion method 'from_euler()' outside tolerance!");
rc = 1;
}
}
q_true.from_euler(-1.5f,-0.2f,0.5f);
q = {0.7222f,-0.6391f,-0.2386f,0.1142f};
for(unsigned i = 0;i<4;i++) {
if(fabsf(q.data[i] - q_true.data[i]) > tol) {
q_true.from_euler(-1.5f, -0.2f, 0.5f);
q = {0.7222f, -0.6391f, -0.2386f, 0.1142f};
for (unsigned i = 0; i < 4; i++) {
if (fabsf(q.data[i] - q_true.data[i]) > tol) {
warnx("Quaternion method 'from_euler()' outside tolerance!");
rc = 1;
}
}
q_true.from_euler(M_PI_2_F,-M_PI_2_F,-M_PI_F/3);
q = {0.6830f,0.1830f,-0.6830f,0.1830f};
for(unsigned i = 0;i<4;i++) {
if(fabsf(q.data[i] - q_true.data[i]) > tol) {
q_true.from_euler(M_PI_2_F, -M_PI_2_F, -M_PI_F / 3);
q = {0.6830f, 0.1830f, -0.6830f, 0.1830f};
for (unsigned i = 0; i < 4; i++) {
if (fabsf(q.data[i] - q_true.data[i]) > tol) {
warnx("Quaternion method 'from_euler()' outside tolerance!");
rc = 1;
}