static void test_8(void)
{
printf("Running %d iterations of test_INT32_QUAT_OF_RMAT\n", NB_ITER);
#if SEED_RANDOM_FROM_TIME
#pragma message "Seeding random from current time"
time_t now;
now = time(NULL);
struct tm *ts;
ts = localtime(&now);
srandom(ts->tm_sec);
#endif
float max_err = 0.;
float sum_err = 0.;
int nb_err = 0;
int i;
for (i = 0; i < NB_ITER; i++) {
struct FloatEulers eul;
eul.phi = ((double)random() / (double)RAND_MAX - 0.5) * M_PI * 2.;
eul.theta = ((double)random() / (double)RAND_MAX - 0.5) * M_PI * 2.;
eul.psi = ((double)random() / (double)RAND_MAX - 0.5) * M_PI * 2.;
float err = test_INT32_QUAT_OF_RMAT(&eul, FALSE);
sum_err += err;
if (err > max_err) { max_err = err; }
if (err > .01) {
nb_err++;
printf("\nIteration %d with large error: %f\n", i, err);
DISPLAY_FLOAT_EULERS_DEG("Eulers in deg", eul);
test_INT32_QUAT_OF_RMAT(&eul, TRUE);
printf("\n");
}
}
printf("Number of errors %d, average error %f, max error %f\n", nb_err, sum_err / NB_ITER, max_err);
}
static void test_9(void) {
struct FloatEulers eul;
eul.phi = RadOfDeg(80.821376);
eul.theta = RadOfDeg(44.227319);
eul.psi = RadOfDeg(-134.047298);
float err = test_INT32_QUAT_OF_RMAT(&eul, TRUE);
}
static void test_8(void) {
float max_err = 0.;
float sum_err = 0.;
int i;
for (i=0; i<NB_ITER; i++) {
struct FloatEulers eul;
eul.phi = ((double)random()/(double)RAND_MAX - 0.5)*M_PI*2.;
eul.theta = ((double)random()/(double)RAND_MAX - 0.5)*M_PI*2.;
eul.psi = ((double)random()/(double)RAND_MAX - 0.5)*M_PI*2.;
float err = test_INT32_QUAT_OF_RMAT(&eul, FALSE);
sum_err += err;
if (err > max_err) max_err = err;
if (err > .01) {
printf("%f\n", err);
DISPLAY_FLOAT_EULERS_DEG("eul", eul);
test_INT32_QUAT_OF_RMAT(&eul, TRUE);
}
}
printf("err %f (%f)\n", sum_err/NB_ITER, max_err);
}
