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Add SLERP test and euler2quat.

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This commit is contained in:
Kyle Isom
2019-08-06 00:46:02 -07:00
parent be75f67ab8
commit be0d5f9b71
6 changed files with 137 additions and 27 deletions
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13
test/quaternion_test.cc
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@@ -107,6 +107,19 @@ TEST(Quaterniond, Rotate)
}
TEST(Quaterniond, ShortestSLERP)
{
geom::Quaterniond p = geom::Quaterniond {0.382683, 0, 0, 0.92388};
geom::Quaterniond q = geom::Quaterniond {-0.382683, 0, 0, 0.92388};
geom::Quaterniond r = geom::Quaterniond {0, 0, 0, 1};
EXPECT_EQ(geom::ShortestSLERP(p, q, 0.0), p);
EXPECT_EQ(geom::ShortestSLERP(p, q, 1.0), q);
EXPECT_EQ(geom::ShortestSLERP(p, q, 0.5), r);
}
TEST(Quaterniond, Unit)
{
geom::Quaterniond q(geom::Vector4d{0.5773502691896258, 0.5773502691896258, 0.5773502691896258, 0.0});