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fix(tests): Fixed quaternion unit tests #18

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Mar 13, 2018
Merged

fix(tests): Fixed quaternion unit tests #18

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8 changes: 4 additions & 4 deletions kindr_ros/test/RosGeometryMsgPoseTest.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -42,7 +42,7 @@
TEST(RosGeometryMsgPoseEigen, convertFromRosGeometryMsg)
{
const kindr::Position3D referenceTranslation(0.3, -1.5, 0.6);
const kindr::RotationQuaternionPD referenceQuaternion(0.949, 0.133, 0.169, 0.231);
const kindr::RotationQuaternionPD referenceQuaternion(0.113, 0.071, -0.924, 0.35835);

geometry_msgs::Pose geometryPoseMsg;
geometryPoseMsg.orientation.x = referenceQuaternion.x();
Expand All @@ -64,7 +64,7 @@ TEST(RosGeometryMsgPoseEigen, convertFromRosGeometryMsg)
TEST(RosGeometryMsgPoseEigen, convertToRosGeometryMsg)
{
const kindr::Position3D referenceTranslation(0.3, -1.1, -0.6);
const kindr::RotationQuaternionPD referenceQuaternion(0.212, 0.0421, -0.958, 0.186);
const kindr::RotationQuaternionPD referenceQuaternion(0.212, 0.0421, -0.958, 0.1885);

kindr::HomogeneousTransformationPosition3RotationQuaternionD pose;
pose.getPosition() = referenceTranslation;
Expand All @@ -85,7 +85,7 @@ TEST(RosGeometryMsgPoseEigen, convertToRosGeometryMsg)
TEST(RosGeometryMsgTransformationEigen, convertFromRosGeometryMsg)
{
const kindr::Position3D referenceTranslation(0.12, 1.5, 0.6);
const kindr::RotationQuaternionPD referenceQuaternion(0.949, 0.133, 0.169, 0.231);
const kindr::RotationQuaternionPD referenceQuaternion(0.949, 0.133, 0.169, 0.230541);

geometry_msgs::Transform geometryTransformMsg;
geometryTransformMsg.rotation.x = referenceQuaternion.x();
Expand All @@ -107,7 +107,7 @@ TEST(RosGeometryMsgTransformationEigen, convertFromRosGeometryMsg)
TEST(RosGeometryMsgTransformationEigen, convertToRosGeometryMsg)
{
const kindr::Position3D referenceTranslation(0.3, -1.1345, -0.6);
const kindr::RotationQuaternionPD referenceQuaternion(0.212, 0.0421, -0.958, 0.186);
const kindr::RotationQuaternionPD referenceQuaternion(0.212, 0.0421, -0.958, 0.1885);

kindr::HomogeneousTransformationPosition3RotationQuaternionD transformation;
transformation.getPosition() = referenceTranslation;
Expand Down
4 changes: 2 additions & 2 deletions kindr_ros/test/RosGeometryMsgRotationTest.cpp
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Expand Up @@ -42,7 +42,7 @@

TEST(RosGeometryMsgRotationQuaternionEigen, convertFromRosGeometryMsg)
{
const kindr::RotationQuaternionPD referenceQuaternion(0.113, 0.071, -0.924, 0.358);
const kindr::RotationQuaternionPD referenceQuaternion(0.113, 0.071, -0.924, 0.35835);

geometry_msgs::Quaternion geometryQuaternionMsg;
geometryQuaternionMsg.x = referenceQuaternion.x();
Expand All @@ -58,7 +58,7 @@ TEST(RosGeometryMsgRotationQuaternionEigen, convertFromRosGeometryMsg)

TEST(RosGeometryMsgRotationQuaternionEigen, convertToRosGeometryMsg)
{
const kindr::RotationQuaternionPD referenceQuaternion(0.212, 0.0421, -0.958, 0.186);
const kindr::RotationQuaternionPD referenceQuaternion(0.212, 0.0421, -0.958, 0.1885);

kindr::RotationQuaternionPD rotationQuaternion(referenceQuaternion);

Expand Down
6 changes: 3 additions & 3 deletions kindr_ros/test/RosTfPoseTest.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -43,7 +43,7 @@

TEST(RosTfPoseEigen, convertFromRosTf)
{
const kindr::RotationQuaternionD referenceQuaternion(0.949, 0.133, 0.169, 0.231);
const kindr::RotationQuaternionD referenceQuaternion(0.949, 0.133, 0.169, 0.2305);
const kindr::RotationMatrixD referenceRotationMatrix(referenceQuaternion);
const Eigen::Matrix3d referenceRotationMatrixEigen(referenceRotationMatrix.matrix());
const kindr::Position3D referenceTranslation(0.3, -1.5, 0.6);
Expand Down Expand Up @@ -140,7 +140,7 @@ TEST(RosTfPoseEigen, convertFromRosTf)

TEST(RosTfPoseEigen, convertToRosTf)
{
const kindr::RotationQuaternionD referenceQuaternion(0.113, 0.071, -0.924, 0.358);
const kindr::RotationQuaternionD referenceQuaternion(0.113, 0.071, -0.924, 0.3585);
const kindr::RotationMatrixD referenceRotationMatrix(referenceQuaternion);
const kindr::Position3D referenceTranslation(-22.4, 0.31, -4.6);

Expand Down Expand Up @@ -217,7 +217,7 @@ TEST(RosTfPoseEigen, convertToRosTf)

TEST(RosTfPoseEigen, convertTwoWays)
{
const kindr::RotationQuaternionD referenceQuaternion(0.212, 0.0421, -0.958, 0.186);
const kindr::RotationQuaternionD referenceQuaternion(0.212, 0.0421, -0.958, 0.1885);
const kindr::RotationMatrixD referenceRotationMatrix(referenceQuaternion);
const Eigen::Matrix3d referenceRotationMatrixEigen(referenceRotationMatrix.matrix());
const kindr::Position3D referenceTranslation(13.3, 2.6, -7.6);
Expand Down