From 52003c590fafa3e1253e8f5e21adb6467d076b04 Mon Sep 17 00:00:00 2001 From: Kaitlyn Lee <kdl222@nau.edu> Date: Thu, 5 Dec 2019 13:42:49 -0700 Subject: [PATCH] Capitalized enum values. --- include/Rotation.h | 4 ++-- src/Rotation.cpp | 4 ++-- tests/ctests/RotationTest.cpp | 8 ++++---- 3 files changed, 8 insertions(+), 8 deletions(-) diff --git a/include/Rotation.h b/include/Rotation.h index 49f0958..b1d6707 100644 --- a/include/Rotation.h +++ b/include/Rotation.h @@ -7,8 +7,8 @@ namespace ale { enum RotationInterpolation { - slerp, // Spherical interpolation - nlerp // Normalized linear interpolation + SLERP, // Spherical interpolation + NLERP // Normalized linear interpolation }; /** diff --git a/src/Rotation.cpp b/src/Rotation.cpp index 46d68e0..ef646ea 100644 --- a/src/Rotation.cpp +++ b/src/Rotation.cpp @@ -249,10 +249,10 @@ namespace ale { ) const { Eigen::Quaterniond interpQuat; switch (interpType) { - case slerp: + case SLERP: interpQuat = m_impl->quat.slerp(t, nextRotation.m_impl->quat); break; - case nlerp: + case NLERP: interpQuat = Eigen::Quaterniond( linearInterpolate(m_impl->quat.w(), nextRotation.m_impl->quat.w(), t), linearInterpolate(m_impl->quat.x(), nextRotation.m_impl->quat.x(), t), diff --git a/tests/ctests/RotationTest.cpp b/tests/ctests/RotationTest.cpp index e8b8390..8b81340 100644 --- a/tests/ctests/RotationTest.cpp +++ b/tests/ctests/RotationTest.cpp @@ -390,7 +390,7 @@ TEST(RotationTest, MultiplyRotation) { TEST(RotationTest, Slerp) { Rotation rotationOne(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(); ASSERT_EQ(quat.size(), 4); EXPECT_NEAR(quat[0], cos(M_PI * 3.0/8.0), 1e-10); @@ -402,7 +402,7 @@ TEST(RotationTest, Slerp) { TEST(RotationTest, SlerpExtrapolate) { Rotation rotationOne(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(); ASSERT_EQ(quat.size(), 4); EXPECT_NEAR(quat[0], cos(M_PI * 17.0/24.0), 1e-10); @@ -414,7 +414,7 @@ TEST(RotationTest, SlerpExtrapolate) { TEST(RotationTest, Nlerp) { Rotation rotationOne(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); vector<double> quat = interpRotation.toQuaternion(); ASSERT_EQ(quat.size(), 4); @@ -427,7 +427,7 @@ TEST(RotationTest, Nlerp) { TEST(RotationTest, NlerpExtrapolate) { Rotation rotationOne(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); vector<double> quat = interpRotation.toQuaternion(); ASSERT_EQ(quat.size(), 4); -- GitLab