void testEulerConversion(double yaw, double pitch, double roll){ Pose3D p; p.setFromEuler(0, 0, 0, yaw, pitch, roll); Euler e = p.getEuler(); EXPECT_FLOAT_EQ(e.yaw, yaw); EXPECT_FLOAT_EQ(e.pitch, pitch); EXPECT_FLOAT_EQ(e.roll, roll); }
TEST(Pose3D, DefaultConstructor){ Pose3D p; //EXPECT_EQ(0, p.getMagnitude()); Euler e = p.getEuler(); EXPECT_EQ(0, e.yaw); EXPECT_EQ(0, e.pitch); EXPECT_EQ(0, e.roll); Quaternion q = p.getQuaternion(); EXPECT_EQ(0, q.x); EXPECT_EQ(0, q.y); EXPECT_EQ(0, q.z); EXPECT_EQ(1, q.w); Position x = p.getPosition(); EXPECT_EQ(0, x.x); EXPECT_EQ(0, x.y); EXPECT_EQ(0, x.z); }