Commit 52003c59 authored by Kaitlyn Lee's avatar Kaitlyn Lee Committed by Jesse Mapel
Browse files

Capitalized enum values.

parent 41a32cb9

include/Rotation.h

+2 −2
Original line number Diff line number Diff line
@@ -7,8 +7,8 @@ 
namespace ale {



  enum RotationInterpolation {

    slerp, // Spherical interpolation

    nlerp // Normalized linear interpolation

    SLERP, // Spherical interpolation

    NLERP // Normalized linear interpolation

  };



  /**

src/Rotation.cpp

+2 −2
Original line number Diff line number Diff line
@@ -249,10 +249,10 @@ namespace ale { 
  ) const {

    Eigen::Quaterniond interpQuat;

    switch (interpType) {

      case slerp:

      case SLERP:

        interpQuat = m_impl->quat.slerp(t, nextRotation.m_impl->quat);

        break;

      case nlerp:

      case NLERP:

        interpQuat = Eigen::Quaterniond(

              linearInterpolate(m_impl->quat.w(), nextRotation.m_impl->quat.w(), t),

              linearInterpolate(m_impl->quat.x(), nextRotation.m_impl->quat.x(), t),

tests/ctests/RotationTest.cpp

+4 −4
Original line number Diff line number Diff line
@@ -390,7 +390,7 @@ TEST(RotationTest, MultiplyRotation) { 
TEST(RotationTest, Slerp) {

  Rotation rotationOne(0.5, 0.5, 0.5, 0.5);

  Rotation rotationTwo(-0.5, 0.5, 0.5, 0.5);

  Rotation interpRotation = rotationOne.interpolate(rotationTwo, 0.125, ale::slerp);

  Rotation interpRotation = rotationOne.interpolate(rotationTwo, 0.125, ale::SLERP);

  vector<double> quat = interpRotation.toQuaternion();

  ASSERT_EQ(quat.size(), 4);

  EXPECT_NEAR(quat[0], cos(M_PI * 3.0/8.0), 1e-10);
@@ -402,7 +402,7 @@ TEST(RotationTest, Slerp) { 
TEST(RotationTest, SlerpExtrapolate) {

  Rotation rotationOne(0.5, 0.5, 0.5, 0.5);

  Rotation rotationTwo(-0.5, 0.5, 0.5, 0.5);

  Rotation interpRotation = rotationOne.interpolate(rotationTwo, 1.125, ale::slerp);

  Rotation interpRotation = rotationOne.interpolate(rotationTwo, 1.125, ale::SLERP);

  vector<double> quat = interpRotation.toQuaternion();

  ASSERT_EQ(quat.size(), 4);

  EXPECT_NEAR(quat[0], cos(M_PI * 17.0/24.0), 1e-10);
@@ -414,7 +414,7 @@ TEST(RotationTest, SlerpExtrapolate) { 
TEST(RotationTest, Nlerp) {

  Rotation rotationOne(0.5, 0.5, 0.5, 0.5);

  Rotation rotationTwo(-0.5, 0.5, 0.5, 0.5);

  Rotation interpRotation = rotationOne.interpolate(rotationTwo, 0.125, ale::nlerp);

  Rotation interpRotation = rotationOne.interpolate(rotationTwo, 0.125, ale::NLERP);

  double scaling = 8.0 / sqrt(57.0);

  vector<double> quat = interpRotation.toQuaternion();

  ASSERT_EQ(quat.size(), 4);
@@ -427,7 +427,7 @@ TEST(RotationTest, Nlerp) { 
TEST(RotationTest, NlerpExtrapolate) {

  Rotation rotationOne(0.5, 0.5, 0.5, 0.5);

  Rotation rotationTwo(-0.5, 0.5, 0.5, 0.5);

  Rotation interpRotation = rotationOne.interpolate(rotationTwo, 1.125, ale::nlerp);

  Rotation interpRotation = rotationOne.interpolate(rotationTwo, 1.125, ale::NLERP);

  double scaling = 8.0 / sqrt(73.0);

  vector<double> quat = interpRotation.toQuaternion();

  ASSERT_EQ(quat.size(), 4);