File size: 12,616 Bytes
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index 7366dc552058..032503c1bdfb 100644
--- a/Specs/Core/TransformsSpec.js
+++ b/Specs/Core/TransformsSpec.js
@@ -243,6 +243,62 @@ defineSuite([
expect(actualTranslation).toEqual(origin);
});
+ it('aircraftHeadingPitchRollToFixedFrame works without a result parameter', function() {
+ var origin = new Cartesian3(1.0, 0.0, 0.0);
+ var heading = CesiumMath.toRadians(20.0);
+ var pitch = CesiumMath.toRadians(30.0);
+ var roll = CesiumMath.toRadians(40.0);
+
+ var expectedRotation = Matrix3.fromQuaternion(Quaternion.fromHeadingPitchRoll(heading, pitch, roll));
+ var expectedX = Matrix3.getColumn(expectedRotation, 0, new Cartesian3());
+ var expectedY = Matrix3.getColumn(expectedRotation, 1, new Cartesian3());
+ var expectedZ = Matrix3.getColumn(expectedRotation, 2, new Cartesian3());
+
+ Cartesian3.fromElements(-expectedX.z, expectedX.y, expectedX.x, expectedX);
+ Cartesian3.fromElements(-expectedY.z, expectedY.y, expectedY.x, expectedY);
+ Cartesian3.fromElements(-expectedZ.z, expectedZ.y, expectedZ.x, expectedZ);
+
+ var returnedResult = Transforms.aircraftHeadingPitchRollToFixedFrame(origin, heading, pitch, roll, Ellipsoid.UNIT_SPHERE);
+ var actualX = Cartesian3.fromCartesian4(Matrix4.getColumn(returnedResult, 0, new Cartesian4()));
+ var actualY = Cartesian3.fromCartesian4(Matrix4.getColumn(returnedResult, 1, new Cartesian4()));
+ var actualZ = Cartesian3.fromCartesian4(Matrix4.getColumn(returnedResult, 2, new Cartesian4()));
+ var actualTranslation = Cartesian3.fromCartesian4(Matrix4.getColumn(returnedResult, 3, new Cartesian4()));
+
+ expect(actualX).toEqual(expectedX);
+ expect(actualY).toEqual(expectedY);
+ expect(actualZ).toEqual(expectedZ);
+ expect(actualTranslation).toEqual(origin);
+ });
+
+ it('aircraftHeadingPitchRollToFixedFrame works with a result parameter', function() {
+ var origin = new Cartesian3(1.0, 0.0, 0.0);
+ var heading = CesiumMath.toRadians(20.0);
+ var pitch = CesiumMath.toRadians(30.0);
+ var roll = CesiumMath.toRadians(40.0);
+
+ var expectedRotation = Matrix3.fromQuaternion(Quaternion.fromHeadingPitchRoll(heading, pitch, roll));
+ var expectedX = Matrix3.getColumn(expectedRotation, 0, new Cartesian3());
+ var expectedY = Matrix3.getColumn(expectedRotation, 1, new Cartesian3());
+ var expectedZ = Matrix3.getColumn(expectedRotation, 2, new Cartesian3());
+
+ Cartesian3.fromElements(-expectedX.z, expectedX.y, expectedX.x, expectedX);
+ Cartesian3.fromElements(-expectedY.z, expectedY.y, expectedY.x, expectedY);
+ Cartesian3.fromElements(-expectedZ.z, expectedZ.y, expectedZ.x, expectedZ);
+
+ var result = new Matrix4();
+ var returnedResult = Transforms.aircraftHeadingPitchRollToFixedFrame(origin, heading, pitch, roll, Ellipsoid.UNIT_SPHERE, result);
+ var actualX = Cartesian3.fromCartesian4(Matrix4.getColumn(returnedResult, 0, new Cartesian4()));
+ var actualY = Cartesian3.fromCartesian4(Matrix4.getColumn(returnedResult, 1, new Cartesian4()));
+ var actualZ = Cartesian3.fromCartesian4(Matrix4.getColumn(returnedResult, 2, new Cartesian4()));
+ var actualTranslation = Cartesian3.fromCartesian4(Matrix4.getColumn(returnedResult, 3, new Cartesian4()));
+
+ expect(returnedResult).toBe(result);
+ expect(actualX).toEqual(expectedX);
+ expect(actualY).toEqual(expectedY);
+ expect(actualZ).toEqual(expectedZ);
+ expect(actualTranslation).toEqual(origin);
+ });
+
it('headingPitchRollQuaternion works without a result parameter', function() {
var origin = new Cartesian3(1.0, 0.0, 0.0);
var heading = CesiumMath.toRadians(20.0);
@@ -273,6 +329,36 @@ defineSuite([
expect(actual).toEqualEpsilon(expected, CesiumMath.EPSILON11);
});
+ it('aircraftHeadingPitchRollQuaternion works without a result parameter', function() {
+ var origin = new Cartesian3(1.0, 0.0, 0.0);
+ var heading = CesiumMath.toRadians(20.0);
+ var pitch = CesiumMath.toRadians(30.0);
+ var roll = CesiumMath.toRadians(40.0);
+
+ var transform = Transforms.aircraftHeadingPitchRollToFixedFrame(origin, heading, pitch, roll, Ellipsoid.UNIT_SPHERE);
+ var expected = Matrix4.getRotation(transform, new Matrix3());
+
+ var quaternion = Transforms.aircraftHeadingPitchRollQuaternion(origin, heading, pitch, roll, Ellipsoid.UNIT_SPHERE);
+ var actual = Matrix3.fromQuaternion(quaternion);
+ expect(actual).toEqualEpsilon(expected, CesiumMath.EPSILON11);
+ });
+
+ it('aircraftHeadingPitchRollQuaternion works with a result parameter', function() {
+ var origin = new Cartesian3(1.0, 0.0, 0.0);
+ var heading = CesiumMath.toRadians(20.0);
+ var pitch = CesiumMath.toRadians(30.0);
+ var roll = CesiumMath.toRadians(40.0);
+
+ var transform = Transforms.aircraftHeadingPitchRollToFixedFrame(origin, heading, pitch, roll, Ellipsoid.UNIT_SPHERE);
+ var expected = Matrix4.getRotation(transform, new Matrix3());
+
+ var result = new Quaternion();
+ var quaternion = Transforms.aircraftHeadingPitchRollQuaternion(origin, heading, pitch, roll, Ellipsoid.UNIT_SPHERE, result);
+ var actual = Matrix3.fromQuaternion(quaternion);
+ expect(quaternion).toBe(result);
+ expect(actual).toEqualEpsilon(expected, CesiumMath.EPSILON11);
+ });
+
it('computeTemeToPseudoFixedMatrix works before noon', function() {
var time = JulianDate.fromDate(new Date('June 29, 2015 12:00:00 UTC'));
var t = Transforms.computeTemeToPseudoFixedMatrix(time);
@@ -795,6 +881,54 @@ defineSuite([
}).toThrowDeveloperError();
});
+ it('aircraftHeadingPitchRollToFixedFrame throws without an origin', function() {
+ expect(function() {
+ Transforms.aircraftHeadingPitchRollToFixedFrame(undefined, 0.0, 0.0, 0.0);
+ }).toThrowDeveloperError();
+ });
+
+ it('aircraftHeadingPitchRollToFixedFrame throws without an heading', function() {
+ expect(function() {
+ Transforms.aircraftHeadingPitchRollToFixedFrame(Cartesian3.ZERO, undefined, 0.0, 0.0);
+ }).toThrowDeveloperError();
+ });
+
+ it('aircraftHeadingPitchRollToFixedFrame throws without an pitch', function() {
+ expect(function() {
+ Transforms.aircraftHeadingPitchRollToFixedFrame(Cartesian3.ZERO, 0.0, undefined, 0.0);
+ }).toThrowDeveloperError();
+ });
+
+ it('aircraftHeadingPitchRollToFixedFrame throws without an roll', function() {
+ expect(function() {
+ Transforms.aircraftHeadingPitchRollToFixedFrame(Cartesian3.ZERO, 0.0, 0.0, undefined);
+ }).toThrowDeveloperError();
+ });
+
+ it('aircraftHeadingPitchRollQuaternion throws without an origin', function() {
+ expect(function() {
+ Transforms.aircraftHeadingPitchRollQuaternion(undefined, 0.0, 0.0, 0.0);
+ }).toThrowDeveloperError();
+ });
+
+ it('aircraftHeadingPitchRollQuaternion throws without an heading', function() {
+ expect(function() {
+ Transforms.aircraftHeadingPitchRollQuaternion(Cartesian3.ZERO, undefined, 0.0, 0.0);
+ }).toThrowDeveloperError();
+ });
+
+ it('aircraftHeadingPitchRollQuaternion throws without an pitch', function() {
+ expect(function() {
+ Transforms.aircraftHeadingPitchRollQuaternion(Cartesian3.ZERO, 0.0, undefined, 0.0);
+ }).toThrowDeveloperError();
+ });
+
+ it('aircraftHeadingPitchRollQuaternion throws without an roll', function() {
+ expect(function() {
+ Transforms.aircraftHeadingPitchRollQuaternion(Cartesian3.ZERO, 0.0, 0.0, undefined);
+ }).toThrowDeveloperError();
+ });
+
it('computeTemeToPseudoFixedMatrix throws without a date', function() {
expect(function() {
Transforms.computeTemeToPseudoFixedMatrix(undefined);
diff --git a/mimo_build_env.tar.gz.b64 b/mimo_build_env.tar.gz.b64
new file mode 100644
--- /dev/null
+++ b/mimo_build_env.tar.gz.b64
@@ -0,0 +1,51 @@
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diff --git a/mimo_test_command.sh b/mimo_test_command.sh
new file mode 100755
--- /dev/null
+++ b/mimo_test_command.sh
@@ -0,0 +1,6 @@
+#!/usr/bin/env bash
+
+set -uo pipefail
+cd /testbed || exit 1
+base64 -d mimo_build_env.tar.gz.b64 | tar -xzf - -C /testbed || exit 1
+exec bash -lc 'cd /testbed && bash -eo pipefail /testbed/.build_env/test_command.sh'
|