#include <gtest/gtest.h>
#include <tf2/LinearMath/Quaternion.h>

Include dependency graph for test_helpers.h:

This graph shows which files directly or indirectly include this file:

Macros
#define	ACCEL_ONLY(ax, ay, az, mx, my, mz) ax, ay, az

#define	AM_EAST_NORTH_UP /* Acceleration / 0.0, 0.0, 9.81, / Magnetic */ 0.0, 0.0005, -0.0005

#define	AM_NE_NW_UP_RSD /* Acceleration / 0.20, 0.55, 9.779, / Magnetic */ 8.484e-06, 8.181e-06, -4.3329e-05

#define	AM_NORTH_EAST_DOWN /* Acceleration / 0.0, 0.0, -9.81, / Magnetic */ 0.0005, 0.0, 0.0005

#define	AM_NORTH_WEST_UP /* Acceleration / 0.0, 0.0, 9.81, / Magnetic */ 0.0005, 0.0, -0.0005

#define	AM_SOUTH_EAST_UP /* Acceleration / 0.0, 0.0, 9.81, / Magnetic */ -0.0005, 0.0, -0.0005

#define	AM_SOUTH_UP_WEST /* Acceleration / 0.0, 9.81, 0.0, / Magnetic */ -0.0005, -0.0005, 0.0

#define	AM_WEST_NORTH_DOWN /* Acceleration / 0.0, 0.0, -9.81, / Magnetic */ 0.0, 0.0005, 0.0005

#define	AM_WEST_NORTH_DOWN_RSD /* Acceleration / 0.12, 0.29, -9.83, / Magnetic */ 6.363e-06, 1.0908e-05, 4.2723e-05

#define	ASSERT_IS_NORMALIZED(...) ASSERT_IS_NORMALIZED_(__VA_ARGS__)

#define	ASSERT_IS_NORMALIZED_(q0, q1, q2, q3) ASSERT_TRUE(is_normalized(q0, q1, q2, q3)) << "q0: " << q0 << ", q1: " << q1 << ", q2: " << q2 << ", q3: " << q3;

#define	ASSERT_QUAT_EQUAL(...) ASSERT_QUAT_EQUAL_(__VA_ARGS__)

#define	ASSERT_QUAT_EQUAL_(q0, q1, q2, q3, qr0, qr1, qr2, qr3) ASSERT_TRUE(quat_equal(q0, q1, q2, q3, qr0, qr1, qr2, qr3)) << "q0: " << q0 << ", q1: " << q1 << ", q2: " << q2 << ", q3: " << q3;

#define	ASSERT_QUAT_EQUAL_EX_Z(...) ASSERT_QUAT_EQUAL_EX_Z_(__VA_ARGS__)

#define	ASSERT_QUAT_EQUAL_EX_Z_(q0, q1, q2, q3, qr0, qr1, qr2, qr3) ASSERT_TRUE(quat_eq_ex_z(q0, q1, q2, q3, qr0, qr1, qr2, qr3)) << "q0: " << q0 << ", q1: " << q1 << ", q2: " << q2 << ", q3: " << q3;

#define	MAX_DIFF 0.05

#define	QUAT_IDENTITY 1.0, 0.0, 0.0, 0.0

#define	QUAT_MZ_90 0.707107, 0.0, 0.0, -0.707107

#define	QUAT_NE_NW_UP_RSD_ENU 0.93, 0.03, 0.0, 0.35 /* Axis: Z, Angle: 41deg */

#define	QUAT_NE_NW_UP_RSD_NED 0.021, -0.91, -0.41, 0.02 /* Axis: (0.9, 0.4, 0.0), Angle: 180deg */

#define	QUAT_NE_NW_UP_RSD_NWU 0.91, 0.03, -0.02, -0.41 /* axis: (0.0300376, -0.020025, -0.410513) \| angle: 48.6734deg */

#define	QUAT_WEST_NORTH_DOWN_RSD_ENU 0.0, -0.25, -0.97, -0.02/* Axis: (-0.2, -0.96, 0.02), Angle: 180deg */

#define	QUAT_WEST_NORTH_DOWN_RSD_NED 0.86, -0.01, 0.01, -0.50 /* Axis: -Z, Angle: 60deg */

#define	QUAT_WEST_NORTH_DOWN_RSD_NWU 0.01, 0.86, 0.50, 0.012 /* axis: (0.864401, 0.502559, 0.0120614) \| angle: 178.848deg */

#define	QUAT_X_180 0.0, 1.0, 0.0, 0.0

#define	QUAT_XMYMZ_120 0.5, 0.5, -0.5, -0.5

Functions
template<typename T >
static bool	is_normalized (T q0, T q1, T q2, T q3)

template<typename T >
static void	normalize_quaternion (T &q0, T &q1, T &q2, T &q3)

template<typename T >
static bool	quat_eq_ex_z (T q0, T q1, T q2, T q3, T qr0, T qr1, T qr2, T qr3)

template<typename T >
static bool	quat_equal (T q0, T q1, T q2, T q3, T qr0, T qr1, T qr2, T qr3)

Macro Definition Documentation

#define ACCEL_ONLY	(	ax,
		ay,
		az,
		mx,
		my,
		mz
	)	ax, ay, az

Definition at line 86 of file test_helpers.h.

#define AM_EAST_NORTH_UP /* Acceleration */ 0.0, 0.0, 9.81, /* Magnetic */ 0.0, 0.0005, -0.0005

Definition at line 74 of file test_helpers.h.

#define AM_NE_NW_UP_RSD /* Acceleration */ 0.20, 0.55, 9.779, /* Magnetic */ 8.484e-06, 8.181e-06, -4.3329e-05

Definition at line 83 of file test_helpers.h.

#define AM_NORTH_EAST_DOWN /* Acceleration */ 0.0, 0.0, -9.81, /* Magnetic */ 0.0005, 0.0, 0.0005

Definition at line 75 of file test_helpers.h.

#define AM_NORTH_WEST_UP /* Acceleration */ 0.0, 0.0, 9.81, /* Magnetic */ 0.0005, 0.0, -0.0005

Definition at line 76 of file test_helpers.h.

#define AM_SOUTH_EAST_UP /* Acceleration */ 0.0, 0.0, 9.81, /* Magnetic */ -0.0005, 0.0, -0.0005

Definition at line 78 of file test_helpers.h.

#define AM_SOUTH_UP_WEST /* Acceleration */ 0.0, 9.81, 0.0, /* Magnetic */ -0.0005, -0.0005, 0.0

Definition at line 77 of file test_helpers.h.

#define AM_WEST_NORTH_DOWN /* Acceleration */ 0.0, 0.0, -9.81, /* Magnetic */ 0.0, 0.0005, 0.0005

Definition at line 79 of file test_helpers.h.

#define AM_WEST_NORTH_DOWN_RSD /* Acceleration */ 0.12, 0.29, -9.83, /* Magnetic */ 6.363e-06, 1.0908e-05, 4.2723e-05

Definition at line 82 of file test_helpers.h.

#define ASSERT_IS_NORMALIZED ( ... ) ASSERT_IS_NORMALIZED_(__VA_ARGS__)

Definition at line 64 of file test_helpers.h.

#define ASSERT_IS_NORMALIZED_	(	q0,
		q1,
		q2,
		q3
	)	ASSERT_TRUE(is_normalized(q0, q1, q2, q3)) << "q0: " << q0 << ", q1: " << q1 << ", q2: " << q2 << ", q3: " << q3;

Definition at line 63 of file test_helpers.h.

#define ASSERT_QUAT_EQUAL ( ... ) ASSERT_QUAT_EQUAL_(__VA_ARGS__)

Definition at line 67 of file test_helpers.h.

#define ASSERT_QUAT_EQUAL_	(	q0,
		q1,
		q2,
		q3,
		qr0,
		qr1,
		qr2,
		qr3
	)	ASSERT_TRUE(quat_equal(q0, q1, q2, q3, qr0, qr1, qr2, qr3)) << "q0: " << q0 << ", q1: " << q1 << ", q2: " << q2 << ", q3: " << q3;

Definition at line 66 of file test_helpers.h.

#define ASSERT_QUAT_EQUAL_EX_Z ( ... ) ASSERT_QUAT_EQUAL_EX_Z_(__VA_ARGS__)

Definition at line 70 of file test_helpers.h.

#define ASSERT_QUAT_EQUAL_EX_Z_	(	q0,
		q1,
		q2,
		q3,
		qr0,
		qr1,
		qr2,
		qr3
	)	ASSERT_TRUE(quat_eq_ex_z(q0, q1, q2, q3, qr0, qr1, qr2, qr3)) << "q0: " << q0 << ", q1: " << q1 << ", q2: " << q2 << ", q3: " << q3;

Definition at line 69 of file test_helpers.h.

#define MAX_DIFF 0.05

Definition at line 8 of file test_helpers.h.

#define QUAT_IDENTITY 1.0, 0.0, 0.0, 0.0

Definition at line 90 of file test_helpers.h.

#define QUAT_MZ_90 0.707107, 0.0, 0.0, -0.707107

Definition at line 91 of file test_helpers.h.

#define QUAT_NE_NW_UP_RSD_ENU 0.93, 0.03, 0.0, 0.35 /* Axis: Z, Angle: 41deg */

Definition at line 98 of file test_helpers.h.

#define QUAT_NE_NW_UP_RSD_NED 0.021, -0.91, -0.41, 0.02 /* Axis: (0.9, 0.4, 0.0), Angle: 180deg */

Definition at line 99 of file test_helpers.h.

#define QUAT_NE_NW_UP_RSD_NWU 0.91, 0.03, -0.02, -0.41 /* axis: (0.0300376, -0.020025, -0.410513) | angle: 48.6734deg */

Definition at line 97 of file test_helpers.h.

#define QUAT_WEST_NORTH_DOWN_RSD_ENU 0.0, -0.25, -0.97, -0.02/* Axis: (-0.2, -0.96, 0.02), Angle: 180deg */

Definition at line 95 of file test_helpers.h.

#define QUAT_WEST_NORTH_DOWN_RSD_NED 0.86, -0.01, 0.01, -0.50 /* Axis: -Z, Angle: 60deg */

Definition at line 96 of file test_helpers.h.

#define QUAT_WEST_NORTH_DOWN_RSD_NWU 0.01, 0.86, 0.50, 0.012 /* axis: (0.864401, 0.502559, 0.0120614) | angle: 178.848deg */

Definition at line 94 of file test_helpers.h.

#define QUAT_X_180 0.0, 1.0, 0.0, 0.0

Definition at line 92 of file test_helpers.h.

#define QUAT_XMYMZ_120 0.5, 0.5, -0.5, -0.5

Definition at line 93 of file test_helpers.h.

Function Documentation

template<typename T >

static bool is_normalized	(	T	q0,
		T	q1,
		T	q2,
		T	q3
	)

inlinestatic

Definition at line 28 of file test_helpers.h.

template<typename T >

static void normalize_quaternion	(	T &	q0,
		T &	q1,
		T &	q2,
		T &	q3
	)

inlinestatic

Definition at line 11 of file test_helpers.h.

template<typename T >

static bool quat_eq_ex_z	(	T	q0,
		T	q1,
		T	q2,
		T	q3,
		T	qr0,
		T	qr1,
		T	qr2,
		T	qr3
	)

inlinestatic

Definition at line 44 of file test_helpers.h.

template<typename T >

static bool quat_equal	(	T	q0,
		T	q1,
		T	q2,
		T	q3,
		T	qr0,
		T	qr1,
		T	qr2,
		T	qr3
	)

inlinestatic

Definition at line 33 of file test_helpers.h.

Macros

Functions

Macro Definition Documentation

Function Documentation