lib #358: cleanup.

Replace UAS::getYaw() with UAS::quaternion_get_yaw().
mavlink · Aug 4, 2015 · 87016b5 · 87016b5
1 parent 8cfdd89
commit 87016b5
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Showing 3 changed files with 6 additions and 11 deletions.
diff --git a/mavros/include/mavros/mavros_uas.h b/mavros/include/mavros/mavros_uas.h
@@ -371,17 +371,12 @@ class UAS {
 		yaw = rpy.z();
 	}
 
-	static double quaternion_get_yaw(const Eigen::Quaterniond &q);
-
 	/**
 	 * @brief Get Yaw angle from quaternion
 	 *
 	 * Replacement function for @a tf::getYaw()
 	 */
-	static inline double getYaw(const Eigen::Quaterniond &q) {
-		//return quaternion_to_rpy(q).z();
-		return quaternion_get_yaw(q);
-	}
+	static double quaternion_get_yaw(const Eigen::Quaterniond &q);
 
 	/**
 	 * @brief Store Quaternion to MAVLink float[4] format

diff --git a/mavros/src/plugins/setpoint_position.cpp b/mavros/src/plugins/setpoint_position.cpp
@@ -100,7 +100,7 @@ class SetpointPositionPlugin : public MavRosPlugin,
 				p.x(), p.y(), p.z(),
 				0.0, 0.0, 0.0,
 				0.0, 0.0, 0.0,
-				UAS::getYaw(q), 0.0);
+				UAS::quaternion_get_yaw(q), 0.0);
 	}
 
 	/* -*- callbacks -*- */

diff --git a/mavros/test/test_quaternion_utils.cpp b/mavros/test/test_quaternion_utils.cpp
@@ -112,16 +112,16 @@ TEST(UAS, quaternion_to_rpy__pm_pi)
 
 // UAS::quaternion_to_rpy() is not compatible with tf2::Matrix3x3(q).getRPY()
 
-TEST(UAS, getYaw__123)
+TEST(UAS, quaternion_get_yaw__123)
 {
 	// with pich >= pi/2 got incorrect result.
 	// so 1, 2, 3 rad (57, 115, 172 deg) replaced with 60, 89, 172 deg
 	auto q = UAS::quaternion_from_rpy(60.0 * deg_to_rad, 89.0 * deg_to_rad, 3.0);
 
-	EXPECT_NEAR(3.0, UAS::getYaw(q), epsilon);
+	EXPECT_NEAR(3.0, UAS::quaternion_get_yaw(q), epsilon);
 }
 
-TEST(UAS, getYaw__pm_pi)
+TEST(UAS, quaternion_get_yaw__pm_pi)
 {
 	// in degrees
 	const ssize_t min = -180;
@@ -140,7 +140,7 @@ TEST(UAS, getYaw__pm_pi)
 		SCOPED_TRACE(ss.str());
 
 		auto q1 = UAS::quaternion_from_rpy(expected);
-		double q1_yaw = UAS::getYaw(q1);
+		double q1_yaw = UAS::quaternion_get_yaw(q1);
 
 		EXPECT_NEAR(expected.z(), q1_yaw, epsilon);
 	}