test/integration/tracked_vehicle_system.cc
void verifyPose(const math::Pose3d& pose1, const math::Pose3d& pose2)
{
  EXPECT_NEAR(pose1.Pos().X(), pose2.Pos().X(), 1e-1);
  EXPECT_NEAR(pose1.Pos().Y(), pose2.Pos().Y(), 1e-1);
  EXPECT_NEAR(pose1.Pos().Z(), pose2.Pos().Z(), 1e-2);
  EXPECT_ANGLE_NEAR(pose1.Rot().Roll(), pose2.Rot().Roll(), 1e-2);
  EXPECT_ANGLE_NEAR(pose1.Rot().Pitch(), pose2.Rot().Pitch(), 1e-2);
  EXPECT_ANGLE_NEAR(pose1.Rot().Yaw(), pose2.Rot().Yaw(), 1e-1);
}
// Verify that a model's world pose is near a specified pose.
Verify that a model's world pose is near a specified pose.
Verify that a model ' s world pose is near a specified pose .
void verifyPose(const math::Pose3d& pose1, const math::Pose3d& pose2)
{
  EXPECT_NEAR(pose1.Pos().X(), pose2.Pos().X(), 1e-1);
  EXPECT_NEAR(pose1.Pos().Y(), pose2.Pos().Y(), 1e-1);
  EXPECT_NEAR(pose1.Pos().Z(), pose2.Pos().Z(), 1e-2);
  EXPECT_ANGLE_NEAR(pose1.Rot().Roll(), pose2.Rot().Roll(), 1e-2);
  EXPECT_ANGLE_NEAR(pose1.Rot().Pitch(), pose2.Rot().Pitch(), 1e-2);
  EXPECT_ANGLE_NEAR(pose1.Rot().Yaw(), pose2.Rot().Yaw(), 1e-1);
}
void verifyPose ( const math :: Pose3d & pose1 , const math :: Pose3d & pose2 ) { EXPECT_NEAR ( pose1 . Pos ( ) . X ( ) , pose2 . Pos ( ) . X ( ) , 1e-1 ) ; EXPECT_NEAR ( pose1 . Pos ( ) . Y ( ) , pose2 . Pos ( ) . Y ( ) , 1e-1 ) ; EXPECT_NEAR ( pose1 . Pos ( ) . Z ( ) , pose2 . Pos ( ) . Z ( ) , 1e-2 ) ; EXPECT_ANGLE_NEAR ( pose1 . Rot ( ) . Roll ( ) , pose2 . Rot ( ) . Roll ( ) , 1e-2 ) ; EXPECT_ANGLE_NEAR ( pose1 . Rot ( ) . Pitch ( ) , pose2 . Rot ( ) . Pitch ( ) , 1e-2 ) ; EXPECT_ANGLE_NEAR ( pose1 . Rot ( ) . Yaw ( ) , pose2 . Rot ( ) . Yaw ( ) , 1e-1 ) ; }
Verify that a model's world pose is near a specified pose.
Verify that a model ' s world pose is near a specified pose .