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); }