public void PanTilt()
{
int pan_angle1 = -40;
float pan1 = pan_angle1 * (float)Math.PI / 180.0f;
int tilt_angle1 = 20;
float tilt1 = tilt_angle1 * (float)Math.PI / 180.0f;
pos3D pos1 = new pos3D(0, 50, 0);
pos3D pos2 = pos1.rotate_old(pan1,tilt1,0);
pos3D pos3 = pos1.rotate(pan1,tilt1,0);
float dx = Math.Abs(pos2.x - pos3.x);
float dy = Math.Abs(pos2.y - pos3.y);
float dz = Math.Abs(pos2.z - pos3.z);
Console.WriteLine("pos old: " + pos2.x.ToString() + ", " + pos2.y.ToString() + ", " + pos2.z.ToString());
Console.WriteLine("pos new: " + pos3.x.ToString() + ", " + pos3.y.ToString() + ", " + pos3.z.ToString());
Assert.Less(dx, 1);
Assert.Less(dy, 1);
Assert.Less(dz, 1);
}
public void Roll()
{
int roll_angle1 = 20;
float roll1 = roll_angle1 * (float)Math.PI / 180.0f;
pos3D pos1 = new pos3D(50, 0, 0);
pos3D pos2 = pos1.rotate_old(0,0,roll1);
pos3D pos3 = pos1.rotate(0,0,roll1);
float dx = Math.Abs(pos2.x - pos3.x);
float dy = Math.Abs(pos2.y - pos3.y);
float dz = Math.Abs(pos2.z - pos3.z);
Console.WriteLine("pos old: " + pos2.x.ToString() + ", " + pos2.y.ToString() + ", " + pos2.z.ToString());
Console.WriteLine("pos new: " + pos3.x.ToString() + ", " + pos3.y.ToString() + ", " + pos3.z.ToString());
Assert.Less(dx, 1);
Assert.Less(dy, 1);
Assert.Less(dz, 1);
}