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Fix double conversion to degrees in rotation_test

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Change-Id: I16b6d210cdab94340c001b322916c5b1a3b6a35f
This commit is contained in:
Keir Mierle
2016-03-16 11:35:28 -07:00
parent efe61b089b
commit f4ba28d09d
1 changed files with 11 additions and 11 deletions
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internal/ceres/rotation_test.cc
+11 -11
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@@ -616,9 +616,10 @@ static void Transpose3x3(double m[9]) {
}
// Convert Euler angles from radians to degrees.
static void ToDegrees(double ea[3]) {
for (int i = 0; i < 3; ++i)
ea[i] *= 180.0 / kPi;
static void ToDegrees(double euler_angles[3]) {
for (int i = 0; i < 3; ++i) {
euler_angles[i] *= 180.0 / kPi;
}
}
// Compare the 3x3 rotation matrices produced by the axis-angle
@@ -662,13 +663,13 @@ TEST(EulerAnglesToRotationMatrix, OnAxis) {
TEST(EulerAnglesToRotationMatrix, IsOrthonormal) {
srand(5);
for (int trial = 0; trial < kNumTrials; ++trial) {
double ea[3];
for (int i = 0; i < 3; ++i)
ea[i] = 360.0 * (RandDouble() * 2.0 - 1.0);
double ea_matrix[9];
ToDegrees(ea); // Radians to degrees.
EulerAnglesToRotationMatrix(ea, 3, ea_matrix);
EXPECT_THAT(ea_matrix, IsOrthonormal());
double euler_angles_degrees[3];
for (int i = 0; i < 3; ++i) {
euler_angles_degrees[i] = RandDouble() * 360.0 - 180.0;
}
double rotation_matrix[9];
EulerAnglesToRotationMatrix(euler_angles_degrees, 3, rotation_matrix);
EXPECT_THAT(rotation_matrix, IsOrthonormal());
}
}
@@ -697,7 +698,6 @@ J4 MakeJ4(double a, double v0, double v1, double v2, double v3) {
return j;
}
bool IsClose(double x, double y) {
EXPECT_FALSE(IsNaN(x));
EXPECT_FALSE(IsNaN(y));