public void ToCardanTest2() { var cardanFrame = new CardanFrame(new Position3D(), 45.0.DegToRad(), 45.0.DegToRad(), 45.0.DegToRad()); var mat = cardanFrame.ToMatrix44D(); var ex1 = mat * new Vector3D(1, 0, 0); var cardan = mat.ToCardanFrame(); var rot = cardan.ToMatrix44D(); Assert.Equal(mat, rot); }
public void ToCardanTest3() { var cardanFrame = new CardanFrame(new Position3D(), 269.96510228042916.DegToRad(), 0.00030437000552928036.DegToRad(), 89.0006093665338.DegToRad()); var mat = cardanFrame.ToMatrix44D(); var ex1 = mat * new Vector3D(1, 0, 0); var cardan = mat.ToCardanFrame(); var alpha = cardan.AlphaAngleAxisX.RadToDeg(); var beta = cardan.BetaAngleAxisY.RadToDeg(); var Gamma = cardan.GammaAngleAxisZ.RadToDeg(); var rot = cardan.ToMatrix44D(); Assert.Equal(mat, rot); }