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Fix a couple of mjtNum build errors.

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PiperOrigin-RevId: 645024056
Change-Id: Id283f550a4e2d927c214a86e77d42b90fb02824e
This commit is contained in:
Nimrod Gileadi
2024-06-20 07:30:12 -07:00
committed by Copybara-Service
parent 18634b6726
commit 73cd15344e
5 changed files with 36 additions and 25 deletions
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test/engine/engine_util_spatial_test.cc
+11 -11
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@@ -166,38 +166,38 @@ TEST_F(Euler2QuatTest, BadSeqLength) {
}
TEST_F(Euler2QuatTest, Euler2Quat) {
double quat[4] = {0};
double tol = 1e-14;
mjtNum quat[4] = {0};
mjtNum tol = 1e-14;
char seq[] = "xyz";
double euler[3] = {mjPI, 0, 0};
double expected[4] = {0, 1, 0, 0};
mjtNum euler[3] = {mjPI, 0, 0};
mjtNum expected[4] = {0, 1, 0, 0};
mju_euler2Quat(quat, euler, seq);
EXPECT_THAT(quat, Pointwise(DoubleNear(tol), expected));
euler[1] = mjPI;
double expected2[4] = {0, 0, 0, 1};
mjtNum expected2[4] = {0, 0, 0, 1};
mju_euler2Quat(quat, euler, seq);
EXPECT_THAT(quat, Pointwise(DoubleNear(tol), expected2));
char seq2[] = "XYZ";
double expected3[4] = {0, 0, 0, -1};
mjtNum expected3[4] = {0, 0, 0, -1};
mju_euler2Quat(quat, euler, seq2);
EXPECT_THAT(quat, Pointwise(DoubleNear(tol), expected3));
double euler2[3] = {2*mjPI, 2*mjPI, 2*mjPI};
double expected4[4] = {-1, 0, 0, 0};
mjtNum euler2[3] = {2*mjPI, 2*mjPI, 2*mjPI};
mjtNum expected4[4] = {-1, 0, 0, 0};
mju_euler2Quat(quat, euler2, seq);
EXPECT_THAT(quat, Pointwise(DoubleNear(tol), expected4));
mju_euler2Quat(quat, euler2, seq2);
EXPECT_THAT(quat, Pointwise(DoubleNear(tol), expected4));
double euler3[3] = {mjPI/2, mjPI/2, mjPI/2};
double expected5[4] = {0, mju_sqrt(.5), 0, mju_sqrt(.5)};
mjtNum euler3[3] = {mjPI/2, mjPI/2, mjPI/2};
mjtNum expected5[4] = {0, mju_sqrt(.5), 0, mju_sqrt(.5)};
mju_euler2Quat(quat, euler3, seq);
EXPECT_THAT(quat, Pointwise(DoubleNear(tol), expected5));
mju_euler2Quat(quat, euler3, seq2);
double expected6[4] = {mju_sqrt(.5), 0, mju_sqrt(.5), 0};
mjtNum expected6[4] = {mju_sqrt(.5), 0, mju_sqrt(.5), 0};
EXPECT_THAT(quat, Pointwise(DoubleNear(tol), expected6));
}