From 36368fb32f15f69f2bd6ee5a3b1bcb19b120fb33 Mon Sep 17 00:00:00 2001
From: jpreiss <jamesalanpreiss@gmail.com>
Date: Mon, 1 Jun 2020 21:01:08 -0700
Subject: [PATCH] quat low precision ops testing
---
test.c | 32 ++++++++++++++++++++++++++++++++
1 file changed, 32 insertions(+)
diff --git a/test.c b/test.c
index d6e13f0..603d6d2 100644
--- a/test.c
+++ b/test.c
@@ -215,6 +215,37 @@ void test_qslerp()
printf("%s passed\n", __func__);
}
+void test_quat_lowprecision()
+{
+ srand(20); // deterministic
+
+ int const N = 10000;
+
+ for (int i = 0; i < N; ++i) {
+ struct vec rpy = vscl(1e-2f, randcube());
+ struct quat exact = rpy2quat(rpy);
+ struct quat approx = rpy2quat_small(rpy);
+ assert(qanglebetween(exact, approx) < 1e-3f);
+ }
+
+ for (int i = 0; i < N; ++i) {
+ struct vec gyro = randsphere();
+ struct quat init = randquat();
+ int steps = 100;
+ float t = randu(0.1, 2.0);
+ float dt = t / steps;
+ struct quat q = init;
+ for (int j = 0; j < steps; ++j) {
+ q = quat_gyro_update(q, gyro, dt);
+ }
+ struct quat target = qqmul(qaxisangle(gyro, t), init);
+ assert(qanglebetween(q, target) < 1e-6f);
+ }
+
+ printf("%s passed\n", __func__);
+}
+
+
// micro test framework
typedef void (*voidvoid_fn)(void);
voidvoid_fn test_fns[] = {
@@ -223,6 +254,7 @@ voidvoid_fn test_fns[] = {
test_quat_conversions,
test_qvectovec,
test_qslerp,
+ test_quat_lowprecision,
};
static int i_test = -1;
--
2.20.1