[kernel] Actual fix for NewtonEulerDS test
@@ -111,7 +111,7 @@ void NewtonEulerDSTest::testNewtonEulerDSQuaternion()
double angle= 1e24;
double angleref = 1e24;
- // angle = ::getAxisAngle(q0, axis );
+ angle = ::axisAngleFromQuaternion(q0, axis );
std::cout << "q0 angle : " <<angle<<std::endl;
std::cout << "q0 axis : " << std::endl;
axis->display();
@@ -150,9 +150,7 @@ void NewtonEulerDSTest::testNewtonEulerDSQuaternion()
CPPUNIT_ASSERT_EQUAL_MESSAGE("testNewtonEulerDSQuaternionC : ", *(R) == Rref, true);
CPPUNIT_ASSERT_EQUAL_MESSAGE("testNewtonEulerDSQuaternionC : ", *(v) == *(vref), true);
-
-
- // angle =::getAxisAngle(q01, axis );
+ angle = ::axisAngleFromQuaternion(q01, axis);
std::cout << "q01 angle : " <<angle<<std::endl;
std::cout << "q01 axis : " << std::endl;
axis->display();
@@ -188,7 +186,7 @@ void NewtonEulerDSTest::testNewtonEulerDSQuaternion()
std::cout << "q02 angle : " <<angle<<std::endl;
std::cout << "q02 axis : " << std::endl;
axis->display();
- // ::setAxisAngle(q02,axis,angle);
+ ::quaternionFromAxisAngle(axis,angle,q02);
std::cout << "q02 : " << std::endl;
q02->display();
@@ -232,7 +230,7 @@ void NewtonEulerDSTest::testNewtonEulerDSQuaternion()
std::cout << "q03 angle : " <<angle<<std::endl;
std::cout << "q03 axis : " << std::endl;
axis->display();
- // ::setAxisAngle(q03,axis,angle);
+ ::quaternionFromAxisAngle(axis,angle,q03);
std::cout << "q03 : " << std::endl;
q03->display();
@@ -285,7 +283,7 @@ void NewtonEulerDSTest::testNewtonEulerDSQuaternionMatrix()
std::cout << "q03 angle : " <<angle<<std::endl;
std::cout << "q03 axis : " << std::endl;
axis->display();
- // ::setAxisAngle(q03,axis,angle);
+ ::quaternionFromAxisAngle(axis,angle,q03);
std::cout << "q03 : " << std::endl;
q03->display();
