Test: added check for quaternion vector to vector rotation constructor

including all the parallel vector corner cases

Author: MaEtUgR

test/attitude.cpp

@@ -27,10 +27,7 @@ int main()
     TEST(isEqual(e, e));
 
     // euler vector ctor
-    Vector<float, 3> v;
-    v(0) = 0.1f;
-    v(1) = 0.2f;
-    v(2) = 0.3f;
+    Vector3f v(0.1f, 0.2f, 0.3f);
     Eulerf euler_copy(v);
     TEST(isEqual(euler_copy, euler_check));
 
@@ -42,6 +39,38 @@ int main()
     TEST(fabs(q(2) - 3) < eps);
     TEST(fabs(q(3) - 4) < eps);
 
+    // quaternion ctor: vector to vector
+    Vector3f v1(0.f, 0.f, 1.f);
+    // identity & default destination vector test
+    Quatf quat_v(v1);
+    TEST(isEqual(quat_v.conjugate(v1), v1));
+    // random test
+    v1 = Vector3f(-80.1f, 1.5f, -6.89f);
+    Vector3f v2(0.1f, 0.2f, 0.3f);
+    quat_v = Quatf(v1, v2);
+    TEST(isEqual(quat_v.conjugate(v1).normalized() * v2.norm(), v2));
+    // special 180 degree case 1
+    v1 = Vector3f(0.f, 1.f, 1.f);
+    v2 = Vector3f(0.f, -1.f, -1.f);
+    quat_v = Quatf(v1, v2);
+    TEST(isEqual(quat_v.conjugate(v1).normalized() * v2.norm(), v2));
+    // special 180 degree case 2
+    v1 = Vector3f(1.f, 2.f, 0.f);
+    v2 = Vector3f(0.f, -1.f, -1.f);
+    quat_v = Quatf(v1, v2);
+    TEST(isEqual(quat_v.conjugate(v1).normalized() * v2.norm(), v2));
+    // special 180 degree case 3
+    v1 = Vector3f(0.f, 0.f, 1.f);
+    v2 = Vector3f(0.f, 0.f, -1.f);
+    quat_v = Quatf(v1, v2);
+    TEST(isEqual(quat_v.conjugate(v1).normalized() * v2.norm(), v2));
+    // special 180 degree case 4
+    v1 = Vector3f(1.f, 1.f, 1.f);
+    v2 = Vector3f(-1.f, -1.f, -1.f);
+    quat_v = Quatf(v1, v2);
+    TEST(isEqual(quat_v.conjugate(v1).normalized() * v2.norm(), v2));
+
+
     // quat normalization
     q.normalize();
     TEST(isEqual(q, Quatf(0.18257419f,  0.36514837f,
@@ -297,7 +326,7 @@ int main()
     TEST(isEqual(Dcmf(q), q.to_dcm()));
 
     // conjugate
-    Vector3f v1(1.5f, 2.2f, 3.2f);
+    v = Vector3f(1.5f, 2.2f, 3.2f);
     TEST(isEqual(q.conjugate_inversed(v1), Dcmf(q).T()*v1));
     TEST(isEqual(q.conjugate(v1), Dcmf(q)*v1));