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added test to make sure ov is being calculated correctly #5464

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26a5e9f
added test to make sure ov is being calculated correctly
bgrigsby8 Nov 10, 2025
3da6b1e
Updated ov to be degrees
bgrigsby8 Nov 11, 2025
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10 changes: 10 additions & 0 deletions spatialmath/orientation_test.go
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Original file line number Diff line number Diff line change
Expand Up @@ -153,3 +153,13 @@ func testCompatibility(t *testing.T, o Orientation) {
}
}
}

func TestOrientationVectorPoleRadius(t *testing.T) {
ov := &OrientationVector{Theta: 90.2029644505, OX: 0.0050164674, OY: 0.0079070413, OZ: 0.9999561559}
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@dgottlieb dgottlieb Nov 11, 2025

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I think you meant to use OrientationVectorDegrees here. The test still fails, but much more reasonably:

=== RUN   TestOrientationVectorPoleRadius
    orientation_test.go:161: Expected '90.20295555178383' to almost equal '90.2029644505' (but it didn't)!

I am confused though why if I instead change everything to radians, the test failure gets worse. Code:

	ov := &OrientationVector{Theta: 1.5743387247206226, OX: 0.0050164674, OY: 0.0079070413, OZ: 0.9999561559}
	q := Quaternion(ov.Quaternion())
	composedOv := q.OrientationVectorRadians()
	test.That(t, composedOv.Theta, test.ShouldAlmostEqual, ov.Theta, 0.000001)

Gives:

=== RUN   TestOrientationVectorPoleRadius
    orientation_test.go:162: Expected '0.009364093511798814' to almost equal '0.00501646740007625' (but it didn't)!

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@dgottlieb dgottlieb Nov 11, 2025

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(I assume theta is the only thing in degrees/radians, but I don't really know any of this stuff)

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@bgrigsby8 bgrigsby8 Nov 11, 2025

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Yes, this test was meant to fail. I was meant to use OrientationVectorDegrees, but this orientation_test.go:162: Expected '0.009364093511798814' to almost equal '0.00501646740007625' (but it didn't)! is what im experiencing and real life and wanted to create a test to capture the failure. I'm working with @nicksanford on this

q := Quaternion(ov.Quaternion())
composedOv := q.OrientationVectorDegrees()
test.That(t, composedOv.Theta, test.ShouldAlmostEqual, ov.Theta, 0.000001)
test.That(t, composedOv.OX, test.ShouldAlmostEqual, ov.OX, 0.000001)
test.That(t, composedOv.OY, test.ShouldAlmostEqual, ov.OY, 0.000001)
test.That(t, composedOv.OZ, test.ShouldAlmostEqual, ov.OZ, 0.000001)
}
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