MRPT
2.0.3
wrap2pi_unittest.cpp
Go to the documentation of this file.
1
/* +------------------------------------------------------------------------+
2
| Mobile Robot Programming Toolkit (MRPT) |
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 |
8
+------------------------------------------------------------------------+ */
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
{
18
using
mrpt::math::angDistance
;
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
}
mrpt::math::angDistance
T angDistance(T from, T to)
Computes the shortest angular increment (or distance) between two planar orientations,...
Definition:
wrap2pi.h:95
wrap2pi.h
mrpt
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
Definition:
BaseAppDataSource.h:15
EXPECT_NEAR
EXPECT_NEAR(out.cam_params.rightCameraPose.x, 0.1194, 0.005)
TEST
TEST(Wrap2PI_tests, angDistance)
Definition:
wrap2pi_unittest.cpp:16
M_PI
#define M_PI
Definition:
core/include/mrpt/core/bits_math.h:43
Page generated by
Doxygen 1.8.17
for MRPT 2.0.3 at Thu May 21 21:53:32 UTC 2020