MRPT  2.0.4
wrap2pi_unittest.cpp
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1 /* +------------------------------------------------------------------------+
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3  | https://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2020, Individual contributors, see AUTHORS file |
6  | See: https://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See: https://www.mrpt.org/License |
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9 
10 #include <gtest/gtest.h>
11 #include <mrpt/math/wrap2pi.h>
12 
13 using namespace mrpt;
14 using namespace std;
15 
16 TEST(Wrap2PI_tests, angDistance)
17 {
19 
20  EXPECT_NEAR(angDistance(0.0, 1.0), 1.0, 1e-10);
21  EXPECT_NEAR(angDistance(1.0, 1.0), 0.0, 1e-10);
22  EXPECT_NEAR(angDistance(1.0, 0.0), -1.0, 1e-10);
23 
24  EXPECT_NEAR(angDistance(-(M_PI - 0.1), (M_PI - 0.1)), -0.2, 1e-6);
25  EXPECT_NEAR(angDistance((M_PI - 0.1), -(M_PI - 0.1)), +0.2, 1e-6);
26 }
T angDistance(T from, T to)
Computes the shortest angular increment (or distance) between two planar orientations, such that it is constrained to [-pi,pi] and is correct for any combination of angles (e.g.
Definition: wrap2pi.h:95
STL namespace.
TEST(Wrap2PI_tests, angDistance)
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
EXPECT_NEAR(out.cam_params.rightCameraPose.x, 0.1194, 0.005)



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