Fawkes API Fawkes Development Version
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00001 00002 /*************************************************************************** 00003 * qa_angle.cpp - angle QA app 00004 * 00005 * Created: Mon Jun 18 15:54:55 00006 * Copyright 2007 Tim Niemueller [www.niemueller.de] 00007 * 00008 ****************************************************************************/ 00009 00010 /* This program is free software; you can redistribute it and/or modify 00011 * it under the terms of the GNU General Public License as published by 00012 * the Free Software Foundation; either version 2 of the License, or 00013 * (at your option) any later version. A runtime exception applies to 00014 * this software (see LICENSE.GPL_WRE file mentioned below for details). 00015 * 00016 * This program is distributed in the hope that it will be useful, 00017 * but WITHOUT ANY WARRANTY; without even the implied warranty of 00018 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 00019 * GNU Library General Public License for more details. 00020 * 00021 * Read the full text in the LICENSE.GPL_WRE file in the doc directory. 00022 */ 00023 00024 #include <utils/math/angle.h> 00025 #include <cstdio> 00026 00027 using namespace fawkes; 00028 00029 int 00030 main(int argc, char **argv) 00031 { 00032 float f = -2 * M_PI; 00033 float fnm = normalize_mirror_rad(f); 00034 float expd = 0; 00035 printf("f=%f normalize_mirror_rad(f)=%f expected=%f\n", f, fnm, expd); 00036 00037 f = 2 * M_PI; 00038 fnm = normalize_mirror_rad(f); 00039 expd = 0; 00040 printf("f=%f normalize_mirror_rad(f)=%f expected=%f\n", f, fnm, expd); 00041 00042 00043 f = 2 * M_PI + 1; 00044 fnm = normalize_mirror_rad(f); 00045 expd = 1; 00046 printf("f=%f normalize_mirror_rad(f)=%f expected=%f\n", f, fnm, expd); 00047 00048 00049 f = - 2 * M_PI - 1.4; 00050 fnm = normalize_mirror_rad(f); 00051 expd = -1.4; 00052 printf("f=%f normalize_mirror_rad(f)=%f expected=%f\n", f, fnm, expd); 00053 00054 00055 f = - 2 * M_PI - 2.9; 00056 fnm = normalize_mirror_rad(f); 00057 expd = -2.9; 00058 printf("f=%f normalize_mirror_rad(f)=%f expected=%f\n", f, fnm, expd); 00059 00060 00061 f = - 3 * M_PI - 1; 00062 fnm = normalize_mirror_rad(f); 00063 expd = f + 4 * M_PI; 00064 printf("f=%f normalize_mirror_rad(f)=%f expected=%f\n", f, fnm, expd); 00065 00066 00067 f = -M_PI; 00068 float fnr = normalize_rad(f); 00069 expd = M_PI; 00070 printf("f=%f normalize_rad(f)=%f expected=%f\n", f, fnr, expd); 00071 00072 f = 3 * M_PI; 00073 fnr = normalize_rad(f); 00074 expd = M_PI; 00075 printf("f=%f normalize_rad(f)=%f expected=%f\n", f, fnr, expd); 00076 00077 f = - 3 * M_PI; 00078 fnr = normalize_rad(f); 00079 expd = M_PI; 00080 printf("f=%f normalize_rad(f)=%f expected=%f\n", f, fnr, expd); 00081 00082 f = - 2 * M_PI - 1; 00083 fnr = normalize_rad(f); 00084 expd = 2 * M_PI - 1; 00085 printf("f=%f normalize_rad(f)=%f expected=%f\n", f, fnr, expd); 00086 00087 f = 10 * M_PI; 00088 fnr = normalize_rad(f); 00089 expd = 0; 00090 printf("f=%f normalize_rad(f)=%f expected=%f\n", f, fnr, expd); 00091 00092 return 0; 00093 }