From 3872c2feb402545288f7fb219934c081473da7a2 Mon Sep 17 00:00:00 2001 From: EveCharbie Date: Tue, 19 Jul 2022 11:54:30 -0400 Subject: [PATCH] fixed test + added inverse test --- test/test_utils.cpp | 15 ++++++++++++--- 1 file changed, 12 insertions(+), 3 deletions(-) diff --git a/test/test_utils.cpp b/test/test_utils.cpp index b99433bd..f270783c 100644 --- a/test/test_utils.cpp +++ b/test/test_utils.cpp @@ -1263,9 +1263,18 @@ TEST(Quaternion, velocities) SCALAR_TO_DOUBLE(w0, w[0]); SCALAR_TO_DOUBLE(w1, w[1]); SCALAR_TO_DOUBLE(w2, w[2]); - EXPECT_NEAR(w0, 0.52227744876434945, requiredPrecision); - EXPECT_NEAR(w1, 0.36181645351259678, requiredPrecision); - EXPECT_NEAR(w2, 0.67946773231802449, requiredPrecision); + EXPECT_NEAR(w0, 0.243827661581261, requiredPrecision); + EXPECT_NEAR(w1, 0.0816881748534787, requiredPrecision); + EXPECT_NEAR(w2, 0.320375788494034, requiredPrecision); + + utils::Vector3d eulDot(q.omegaToEulerDot(eR,w,"xyz")); + + SCALAR_TO_DOUBLE(eulDot0, eulDot[0]); + SCALAR_TO_DOUBLE(eulDot1, eulDot[1]); + SCALAR_TO_DOUBLE(eulDot2, eulDot[2]); + EXPECT_NEAR(eulDot0, 0.1, requiredPrecision); + EXPECT_NEAR(eulDot1, 0.2, requiredPrecision); + EXPECT_NEAR(eulDot2, 0.3, requiredPrecision); } }