public void InitialQuaternionSets()
{
QuaternionCoordinateMapper Mapper = new QuaternionCoordinateMapper();
Quaternion quatvalue = new Quaternion(1, 2, 3, 4);
//Act
Mapper.Initial = quatvalue;
//Assert
Assert.AreEqual(Mapper.Initial, quatvalue);
}
public void AccelAtIdentityIsSame()
{
//Arrange
QuaternionCoordinateMapper Mapper = new QuaternionCoordinateMapper();
Mapper.Initial = Quaternion.Identity;
Vector3D expectedvector = new Vector3D(0.012207, 0.008301, 1.003906), actualvector;
//Act
actualvector = Mapper.Map(Quaternion.Identity, expectedvector);
//Assert
Assert.AreEqual(expectedvector, actualvector);
}
public void SettingCorrectionsSetsCorrectionInverse()
{
//Arrange
QuaternionCoordinateMapper Mapper = new QuaternionCoordinateMapper();
Quaternion inverse;
//Act
Mapper.Correction = new Quaternion(-1, 3, 1, 2);
inverse = Mapper.Correction;
inverse.Invert();
//Assert
Assert.AreEqual(Mapper.CorrectionInverse, inverse);
}
public void AccelAtInitialIsSame()
{
//Arrange
QuaternionCoordinateMapper Mapper = new QuaternionCoordinateMapper();
Quaternion initialquaternion = new Quaternion(0.003632D, -0.005046D, -0.004869D, 0.999969D);
Mapper.Initial = initialquaternion;
Vector3D expectedvector = new Vector3D(0.012207D, 0.008301D, 1.003906D), actualvector;
//Act
actualvector = Mapper.Map(initialquaternion, expectedvector);
//Assert
Assert.IsTrue(actualvector.IsSimilarByDelta(expectedvector, -5));
}
public void AccelCorrection1()
{
//Arrange
QuaternionCoordinateMapper Mapper = new QuaternionCoordinateMapper();
Quaternion initialquaternion = new Quaternion(0.003632D, -0.005046D, -0.004869D, 0.999969D);
Mapper.Initial = initialquaternion;
Quaternion sensorquaternion = new Quaternion(-0.013280, -0.009689, 0.928746, 0.370351);
Vector3D sensorvector = new Vector3D(-0.122070, -0.024414, 0.973145), expectedvector = new Vector3D(0.084869, -0.066376, 0.975141), actualvector;
//Act
actualvector = Mapper.Map(sensorquaternion, sensorvector);
//Assert
Assert.IsTrue(actualvector.IsSimilarByDelta(expectedvector, -4));
}
public void AccelCorrection2()
{
//Arrange
QuaternionCoordinateMapper Mapper = new QuaternionCoordinateMapper();
Quaternion initialquaternion = new Quaternion(0.010259, -0.008919, -0.001392, 0.999907);
Mapper.Initial = initialquaternion;
Quaternion sensorquaternion = new Quaternion(0.051725, -0.658204, 0.036181, 0.750189);
Vector3D sensorvector = new Vector3D(1.003418, 0.025879, 0.102051), expectedvector = new Vector3D(0.045759, 0.019828, 1.007693), actualvector;
//Act
actualvector = Mapper.Map(sensorquaternion, sensorvector);
//Assert
Assert.IsTrue(actualvector.IsSimilarByDelta(expectedvector, -4));
}
