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Commit 52003c59 authored by Kaitlyn Lee's avatar Kaitlyn Lee Committed by Jesse Mapel
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Capitalized enum values.

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include/Rotation.h
+ 2
− 2
View file @ 52003c59
...@@ -7,8 +7,8 @@ ...@@ -7,8 +7,8 @@
namespace ale { namespace ale {
enum RotationInterpolation { enum RotationInterpolation {
slerp, // Spherical interpolation SLERP, // Spherical interpolation
nlerp // Normalized linear interpolation NLERP // Normalized linear interpolation
}; };
/** /**
......
src/Rotation.cpp
+ 2
− 2
View file @ 52003c59
...@@ -249,10 +249,10 @@ namespace ale { ...@@ -249,10 +249,10 @@ namespace ale {
) const { ) const {
Eigen::Quaterniond interpQuat; Eigen::Quaterniond interpQuat;
switch (interpType) { switch (interpType) {
case slerp: case SLERP:
interpQuat = m_impl->quat.slerp(t, nextRotation.m_impl->quat); interpQuat = m_impl->quat.slerp(t, nextRotation.m_impl->quat);
break; break;
case nlerp: case NLERP:
interpQuat = Eigen::Quaterniond( interpQuat = Eigen::Quaterniond(
linearInterpolate(m_impl->quat.w(), nextRotation.m_impl->quat.w(), t), linearInterpolate(m_impl->quat.w(), nextRotation.m_impl->quat.w(), t),
linearInterpolate(m_impl->quat.x(), nextRotation.m_impl->quat.x(), t), linearInterpolate(m_impl->quat.x(), nextRotation.m_impl->quat.x(), t),
......
tests/ctests/RotationTest.cpp
+ 4
− 4
View file @ 52003c59
...@@ -390,7 +390,7 @@ TEST(RotationTest, MultiplyRotation) { ...@@ -390,7 +390,7 @@ TEST(RotationTest, MultiplyRotation) {
TEST(RotationTest, Slerp) { TEST(RotationTest, Slerp) {
Rotation rotationOne(0.5, 0.5, 0.5, 0.5); Rotation rotationOne(0.5, 0.5, 0.5, 0.5);
Rotation rotationTwo(-0.5, 0.5, 0.5, 0.5); Rotation rotationTwo(-0.5, 0.5, 0.5, 0.5);
Rotation interpRotation = rotationOne.interpolate(rotationTwo, 0.125, ale::slerp); Rotation interpRotation = rotationOne.interpolate(rotationTwo, 0.125, ale::SLERP);
vector<double> quat = interpRotation.toQuaternion(); vector<double> quat = interpRotation.toQuaternion();
ASSERT_EQ(quat.size(), 4); ASSERT_EQ(quat.size(), 4);
EXPECT_NEAR(quat[0], cos(M_PI * 3.0/8.0), 1e-10); EXPECT_NEAR(quat[0], cos(M_PI * 3.0/8.0), 1e-10);
...@@ -402,7 +402,7 @@ TEST(RotationTest, Slerp) { ...@@ -402,7 +402,7 @@ TEST(RotationTest, Slerp) {
TEST(RotationTest, SlerpExtrapolate) { TEST(RotationTest, SlerpExtrapolate) {
Rotation rotationOne(0.5, 0.5, 0.5, 0.5); Rotation rotationOne(0.5, 0.5, 0.5, 0.5);
Rotation rotationTwo(-0.5, 0.5, 0.5, 0.5); Rotation rotationTwo(-0.5, 0.5, 0.5, 0.5);
Rotation interpRotation = rotationOne.interpolate(rotationTwo, 1.125, ale::slerp); Rotation interpRotation = rotationOne.interpolate(rotationTwo, 1.125, ale::SLERP);
vector<double> quat = interpRotation.toQuaternion(); vector<double> quat = interpRotation.toQuaternion();
ASSERT_EQ(quat.size(), 4); ASSERT_EQ(quat.size(), 4);
EXPECT_NEAR(quat[0], cos(M_PI * 17.0/24.0), 1e-10); EXPECT_NEAR(quat[0], cos(M_PI * 17.0/24.0), 1e-10);
...@@ -414,7 +414,7 @@ TEST(RotationTest, SlerpExtrapolate) { ...@@ -414,7 +414,7 @@ TEST(RotationTest, SlerpExtrapolate) {
TEST(RotationTest, Nlerp) { TEST(RotationTest, Nlerp) {
Rotation rotationOne(0.5, 0.5, 0.5, 0.5); Rotation rotationOne(0.5, 0.5, 0.5, 0.5);
Rotation rotationTwo(-0.5, 0.5, 0.5, 0.5); Rotation rotationTwo(-0.5, 0.5, 0.5, 0.5);
Rotation interpRotation = rotationOne.interpolate(rotationTwo, 0.125, ale::nlerp); Rotation interpRotation = rotationOne.interpolate(rotationTwo, 0.125, ale::NLERP);
double scaling = 8.0 / sqrt(57.0); double scaling = 8.0 / sqrt(57.0);
vector<double> quat = interpRotation.toQuaternion(); vector<double> quat = interpRotation.toQuaternion();
ASSERT_EQ(quat.size(), 4); ASSERT_EQ(quat.size(), 4);
...@@ -427,7 +427,7 @@ TEST(RotationTest, Nlerp) { ...@@ -427,7 +427,7 @@ TEST(RotationTest, Nlerp) {
TEST(RotationTest, NlerpExtrapolate) { TEST(RotationTest, NlerpExtrapolate) {
Rotation rotationOne(0.5, 0.5, 0.5, 0.5); Rotation rotationOne(0.5, 0.5, 0.5, 0.5);
Rotation rotationTwo(-0.5, 0.5, 0.5, 0.5); Rotation rotationTwo(-0.5, 0.5, 0.5, 0.5);
Rotation interpRotation = rotationOne.interpolate(rotationTwo, 1.125, ale::nlerp); Rotation interpRotation = rotationOne.interpolate(rotationTwo, 1.125, ale::NLERP);
double scaling = 8.0 / sqrt(73.0); double scaling = 8.0 / sqrt(73.0);
vector<double> quat = interpRotation.toQuaternion(); vector<double> quat = interpRotation.toQuaternion();
ASSERT_EQ(quat.size(), 4); ASSERT_EQ(quat.size(), 4);
......
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