add eta quat struct and utilities for quaternion pid #17
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Codecov Report✅ All modified and coverable lines are covered by tests. Additional details and impacted files@@ Coverage Diff @@
## main #17 +/- ##
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+ Coverage 88.38% 98.10% +9.71%
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Files 6 3 -3
Lines 594 369 -225
Branches 213 70 -143
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- Hits 525 362 -163
Misses 4 4
+ Partials 65 3 -62
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Q3rkses
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Q3rkses
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other than preferences i think it LGTM
| 0.90238159, -0.90929743, -0.35017549, -0.2248451; | ||
| Eigen::Matrix3d result = get_rotation_matrix(roll, pitch, yaw); | ||
| EXPECT_NEAR(0.0, matrix_norm_diff(expected, result), 0.01); | ||
| EXPECT_TRUE(result.isApprox(expected, 1e-8)); |
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1e-8, 1e-12, 1e-3 seem a bit arbitrary. One maybe we should unify them or two maybe we should simply declare them as constants at the top.
#define MAGIC_TOLERANCE_1 1e-12,
with suitable name like strict and loose bound or more specific like controller or transformation tolerance ...
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Yeah but its just test code so who cares 🤷
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🎉 This PR is included in version 1.6.0 🎉 The release is available on GitHub release Your semantic-release bot 📦🚀 |
Some new additions you can use in your quat pid @ppakr @Q3rkses