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Document and refactor geom code, round 2.

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- Doxygenate headers.
- Rename to bring methods and functions in line with everything else.
This commit is contained in:
Kyle Isom
2023-10-20 21:17:18 -07:00
parent 6a421d6adf
commit 0c7fa41cc8
10 changed files with 68 additions and 55 deletions
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4
test/madgwick.cc
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@@ -153,7 +153,7 @@ SimpleAngularOrientation2InitialVector3f()
bool
SimpleAngularOrientation2InitialQuaternionf()
{
const auto initialFrame = geom::QuaternionFromEuler({0, 0, 0});
const auto initialFrame = geom::FloatQuaternionFromEuler({0, 0, 0});
filter::Madgwickf mflt(initialFrame);
const geom::Vector3F gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
const geom::Quaternionf frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.
@@ -207,7 +207,7 @@ SimpleAngularOrientation2InitialVector3d()
bool
SimpleAngularOrientation2InitialQuaterniond()
{
const auto initialFrame = geom::QuaternionFromEuler({0, 0, 0});
const auto initialFrame = geom::DoubleQuaternionFromEuler({0, 0, 0});
filter::Madgwickd mflt(initialFrame);
const geom::Vector3D gyro{0.174533, 0.0, 0.0}; // 10° X rotation.
const geom::Quaterniond frame20Deg{0.984808, 0.173648, 0, 0}; // 20° final Orientation.

4
test/quaternion.cc
View File

@@ -51,7 +51,7 @@ Quaterniond_Euler()
{
geom::Quaterniond p = geom::MakeQuaternion(
geom::Vector3D{5.037992718099102, 6.212303632611285, 1.7056797335843106}, M_PI / 4.0);
geom::Quaterniond q = geom::QuaternionFromEuler(p.Euler());
geom::Quaterniond q = geom::DoubleQuaternionFromEuler(p.Euler());
SCTEST_CHECK_EQ(p, q);
@@ -238,7 +238,7 @@ Quaternionf_Euler()
{
geom::Quaternionf p = geom::MakeQuaternion(
geom::Vector3F{5.037992718099102, 6.212303632611285, 1.7056797335843106}, M_PI / 4.0);
geom::Quaternionf q = geom::QuaternionFromEuler(p.Euler());
geom::Quaternionf q = geom::FloatQuaternionFromEuler(p.Euler());
SCTEST_CHECK_EQ(p, q);