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base repository: PX4/PX4-Matrix
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head repository: PX4/PX4-Matrix
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compare: 93d42947b612733d2bd05e66ae093ada3e35ba12
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  • 1 commit
  • 1 file changed
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Commits on Nov 8, 2019

  1. Add test for setting Quaternion to Identity (#104)

    kamilritz authored and Julian Kent committed Nov 8, 2019

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Showing with 6 additions and 0 deletions.
  1. +6 −0 test/attitude.cpp
6 changes: 6 additions & 0 deletions test/attitude.cpp
Original file line number Diff line number Diff line change
@@ -265,6 +265,12 @@ int main()
TEST(isEqual(q_non_canonical,q_canonical_ref));
TEST(isEqual(q_canonical,q_canonical_ref));

// quaternion setIdentity
Quatf q_nonIdentity(-0.7f, 0.4f, 0.5f, -0.3f);
Quatf q_identity(1.0f, 0.0f, 0.0f, 0.0f);
q_nonIdentity.setIdentity();
TEST(isEqual(q_nonIdentity, q_identity));

// non-unit quaternion invese
Quatf qI(1.0f, 0.0f, 0.0f, 0.0f);
Quatf q_nonunit(0.1f, 0.2f, 0.3f, 0.4f);