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This commit is contained in:
James Goppert
2013-01-13 18:38:09 -05:00
parent ea3ce8de85
commit 56e15ab1f4
5 changed files with 45 additions and 51 deletions
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30
apps/mathlib/math/Dcm.cpp
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@@ -138,25 +138,25 @@ int __EXPORT dcmTest()
Matrix::identity(3)));
// quaternion ctor
ASSERT(matrixEqual(
Dcm(Quaternion(0.983347, 0.034271, 0.106021, 0.143572)),
Dcm( 0.9362934, -0.2750958, 0.2183507,
0.2896295, 0.9564251, -0.0369570,
-0.1986693, 0.0978434, 0.9751703)));
Dcm(Quaternion(0.983347f, 0.034271f, 0.106021f, 0.143572f)),
Dcm( 0.9362934f, -0.2750958f, 0.2183507f,
0.2896295f, 0.9564251f, -0.0369570f,
-0.1986693f, 0.0978434f, 0.9751703f)));
// euler angle ctor
ASSERT(matrixEqual(
Dcm(EulerAngles(0.1, 0.2, 0.3)),
Dcm( 0.9362934, -0.2750958, 0.2183507,
0.2896295, 0.9564251, -0.0369570,
-0.1986693, 0.0978434, 0.9751703)));
Dcm(EulerAngles(0.1f, 0.2f, 0.3f)),
Dcm( 0.9362934f, -0.2750958f, 0.2183507f,
0.2896295f, 0.9564251f, -0.0369570f,
-0.1986693f, 0.0978434f, 0.9751703f)));
// rotations
Vector3 vB(1, 2, 3);
ASSERT(vectorEqual(Vector3(-2, 1, 3),
Dcm(EulerAngles(0, 0, M_PI_2_F))*vB));
ASSERT(vectorEqual(Vector3(3, 2, -1),
Dcm(EulerAngles(0, M_PI_2_F, 0))*vB));
ASSERT(vectorEqual(Vector3(1, -3, 2),
Dcm(EulerAngles(M_PI_2_F, 0, 0))*vB));
ASSERT(vectorEqual(Vector3(3, 2, -1),
ASSERT(vectorEqual(Vector3(-2.0f, 1.0f, 3.0f),
Dcm(EulerAngles(0.0f, 0.0f, M_PI_2_F))*vB));
ASSERT(vectorEqual(Vector3(3.0f, 2.0f, -1.0f),
Dcm(EulerAngles(0.0f, M_PI_2_F, 0.0f))*vB));
ASSERT(vectorEqual(Vector3(1.0f, -3.0f, 2.0f),
Dcm(EulerAngles(M_PI_2_F, 0.0f, 0.0f))*vB));
ASSERT(vectorEqual(Vector3(3.0f, 2.0f, -1.0f),
Dcm(EulerAngles(
M_PI_2_F, M_PI_2_F, M_PI_2_F))*vB));
printf("PASS\n");