[paparazzi-commits] [5065] a quick test on quaternion pultiplication

[antoine drouin]

Revision: 5065
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=5065
Author:   poine
Date:     2010-07-16 18:44:13 +0000 (Fri, 16 Jul 2010)
Log Message:
-----------
a quick test on quaternion pultiplication

Modified Paths:
--------------
    paparazzi3/trunk/sw/airborne/test/Makefile

Added Paths:
-----------
    paparazzi3/trunk/sw/airborne/test/test_bla.c

Modified: paparazzi3/trunk/sw/airborne/test/Makefile
===================================================================
--- paparazzi3/trunk/sw/airborne/test/Makefile  2010-07-16 16:28:25 UTC (rev 
5064)
+++ paparazzi3/trunk/sw/airborne/test/Makefile  2010-07-16 18:44:13 UTC (rev 
5065)
@@ -14,6 +14,9 @@
 test_algebra: test_algebra.c ../math/pprz_trig_int.c
        $(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS)
 
+test_bla: test_bla.c ../math/pprz_trig_int.c
+       $(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS)
+
 test_att: test_att.c ../math/pprz_trig_int.c
        $(CC) $(CFLAGS) -o $@ $^ $(LDFLAGS)
 

Added: paparazzi3/trunk/sw/airborne/test/test_bla.c
===================================================================
--- paparazzi3/trunk/sw/airborne/test/test_bla.c                                
(rev 0)
+++ paparazzi3/trunk/sw/airborne/test/test_bla.c        2010-07-16 18:44:13 UTC 
(rev 5065)
@@ -0,0 +1,43 @@
+
+
+
+#include <stdio.h>
+#include <stdlib.h>
+#include <math.h>
+
+#include "std.h"
+
+#include "math/pprz_algebra_float.h"
+#include "math/pprz_algebra_double.h"
+#include "math/pprz_algebra_int.h"
+#include "pprz_algebra_print.h"
+
+
+int main(int argc, char** argv) {
+
+  struct FloatEulers ea = { RadOfDeg(45.), RadOfDeg(30.), RadOfDeg(0.)};
+  DISPLAY_FLOAT_EULERS("ea", ea);
+
+  struct FloatEulers eb = { RadOfDeg(42.), RadOfDeg(45.), RadOfDeg(0.)};
+  DISPLAY_FLOAT_EULERS("eb", eb);
+  
+  struct FloatRMat ra;
+  FLOAT_RMAT_OF_EULERS(ra, ea);
+  struct FloatRMat rb;
+  FLOAT_RMAT_OF_EULERS(rb, eb);
+  struct FloatRMat rc;
+  FLOAT_RMAT_COMP(rc, ra, rb);
+
+  DISPLAY_FLOAT_RMAT_AS_EULERS_DEG("rc ", rc);
+
+  struct FloatQuat qa;
+  FLOAT_QUAT_OF_EULERS(qa, ea);
+  struct FloatQuat qb;
+  FLOAT_QUAT_OF_EULERS(qb, eb);
+  struct FloatQuat qc;
+  FLOAT_QUAT_COMP(qc, qa, qb);
+
+
+  DISPLAY_FLOAT_QUAT_AS_EULERS_DEG("qc ", qc);
+
+}