TEST_F(QuaternionTest, ToEulerAngles) { set(0.966, 0.259, 0, 0); EulerAngles ea = quaternion.uprightToEulerAngles(); ASSERT_THAT(ea.heading(), FloatNear(0, EA_DELTA)); ASSERT_THAT(ea.pitch(), FloatNear(30, EA_DELTA)); ASSERT_THAT(ea.bank(), FloatNear(0, EA_DELTA)); }