Update specs

fstoner · Sep 27, 2017 · bbe3c8f · bbe3c8f
1 parent 09e76ce
commit bbe3c8f
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Showing 9 changed files with 24 additions and 385 deletions.
diff --git a/Source/Core/HeadingPitchRoll.js b/Source/Core/HeadingPitchRoll.js
@@ -55,9 +55,9 @@ define([
         var denominatorHeading = 1 - 2 * (quaternion.y * quaternion.y + quaternion.z * quaternion.z);
         var numeratorHeading = 2 * (quaternion.w * quaternion.z + quaternion.x * quaternion.y);
 
-        result.heading = -Math.atan2(numeratorHeading, denominatorHeading);
+        result.heading = Math.atan2(numeratorHeading, denominatorHeading);
         result.roll = Math.atan2(numeratorRoll, denominatorRoll);
-        result.pitch = -Math.asin(test);
+        result.pitch = Math.asin(test);
 
         return result;
     };

diff --git a/Source/Core/Matrix3.js b/Source/Core/Matrix3.js
@@ -308,19 +308,12 @@ define([
 
         deprecationWarning('Matrix3.fromHeadingPitchRoll', 'This function now uses a counter-clockwise orientation as per mathematical conventions. This deprecation warning will be removed in Cesium 1.40.');
 
-        var cosTheta;
-        var cosPsi;
-        var cosPhi;
-        var sinTheta;
-        var sinPsi;
-        var sinPhi;
-
-        cosTheta = Math.cos(headingPitchRoll.pitch);
-        cosPsi = Math.cos(headingPitchRoll.heading);
-        cosPhi = Math.cos(headingPitchRoll.roll);
-        sinTheta = Math.sin(headingPitchRoll.pitch);
-        sinPsi = Math.sin(headingPitchRoll.heading);
-        sinPhi = Math.sin(headingPitchRoll.roll);
+        var cosTheta = Math.cos(headingPitchRoll.pitch);
+        var cosPsi = Math.cos(headingPitchRoll.heading);
+        var cosPhi = Math.cos(headingPitchRoll.roll);
+        var sinTheta = Math.sin(headingPitchRoll.pitch);
+        var sinPsi = Math.sin(headingPitchRoll.heading);
+        var sinPhi = Math.sin(headingPitchRoll.roll);
 
         var m00 = cosTheta * cosPsi;
         var m01 = -cosPhi * sinPsi + sinPhi * sinTheta * cosPsi;

diff --git a/Source/Core/Quaternion.js b/Source/Core/Quaternion.js
@@ -194,9 +194,9 @@ define([
         deprecationWarning('Quaternion.fromHeadingPitchRoll', 'This function now uses a counter-clockwise orientation as per mathematical conventions. This deprecation warning will be removed in Cesium 1.40.');
 
         scratchRollQuaternion = Quaternion.fromAxisAngle(Cartesian3.UNIT_X, headingPitchRoll.roll, scratchHPRQuaternion);
-        scratchPitchQuaternion = Quaternion.fromAxisAngle(Cartesian3.UNIT_Y, -headingPitchRoll.pitch, result);
+        scratchPitchQuaternion = Quaternion.fromAxisAngle(Cartesian3.UNIT_Y, headingPitchRoll.pitch, result);
         result = Quaternion.multiply(scratchPitchQuaternion, scratchRollQuaternion, scratchPitchQuaternion);
-        scratchHeadingQuaternion = Quaternion.fromAxisAngle(Cartesian3.UNIT_Z, -headingPitchRoll.heading, scratchHPRQuaternion);
+        scratchHeadingQuaternion = Quaternion.fromAxisAngle(Cartesian3.UNIT_Z, headingPitchRoll.heading, scratchHPRQuaternion);
 
         return Quaternion.multiply(scratchHeadingQuaternion, result, result);
     };

diff --git a/Source/Core/Transforms.js b/Source/Core/Transforms.js
@@ -340,9 +340,9 @@ define([
 
         fixedFrameTransform = defaultValue(fixedFrameTransform, Transforms.eastNorthUpToFixedFrame);
 
-        Quaternion.fromHeadingPitchRoll(headingPitchRoll, scratchHPRQuaternion);
+       var hprQuaternion = Quaternion.fromHeadingPitchRoll(headingPitchRoll, scratchHPRQuaternion);
 
-        var hprMatrix = Matrix4.fromTranslationQuaternionRotationScale(Cartesian3.ZERO, scratchHPRQuaternion, scratchScale, scratchHPRMatrix4);
+        var hprMatrix = Matrix4.fromTranslationQuaternionRotationScale(Cartesian3.ZERO, hprQuaternion, scratchScale, scratchHPRMatrix4);
         result = fixedFrameTransform(origin, ellipsoid, result);
         return Matrix4.multiply(result, hprMatrix, result);
     };
@@ -383,7 +383,9 @@ define([
         scratchENUMatrix4 = Transforms.headingPitchRollToFixedFrame(origin, headingPitchRoll, ellipsoid, fixedFrameTransform, scratchENUMatrix4);
         Matrix4.getRotation(scratchENUMatrix4, scratchHPRMatrix3);
 
-        return Quaternion.fromRotationMatrix(scratchHPRMatrix3, result);
+        var transform = Transforms.headingPitchRollToFixedFrame(origin, headingPitchRoll, ellipsoid, fixedFrameTransform, scratchENUMatrix4);
+        var rotation = Matrix4.getRotation(transform, scratchHPRMatrix3);
+        return Quaternion.fromRotationMatrix(rotation, result);
     };
 
     var gmstConstant0 = 6 * 3600 + 41 * 60 + 50.54841;

diff --git a/Specs/Core/HeadingPitchRollSpec.js b/Specs/Core/HeadingPitchRollSpec.js
@@ -51,32 +51,6 @@ defineSuite([
         }
     });
 
-    it('conversion from quaternion', function() {
-        var testingTab = [
-            [0, 0, 0],
-            [90 * deg2rad, 0, 0],
-            [-90 * deg2rad, 0, 0],
-            [0, 89 * deg2rad, 0],
-            [0, -89 * deg2rad, 0],
-            [0, 0, 90 * deg2rad],
-            [0, 0, -90 * deg2rad],
-            [30 * deg2rad, 30 * deg2rad, 30 * deg2rad],
-            [-30 * deg2rad, -30 * deg2rad, 45 * deg2rad]
-        ];
-        var hpr = new HeadingPitchRoll();
-        for (var i = 0; i < testingTab.length; i++) {
-            var init = testingTab[i];
-            hpr.heading = init[0];
-            hpr.pitch = init[1];
-            hpr.roll = init[2];
-
-            var result = HeadingPitchRoll.fromQuaternion(Quaternion.fromHeadingPitchRoll(hpr, undefined, true), undefined, true);
-            expect(init[0]).toEqualEpsilon(result.heading, CesiumMath.EPSILON11);
-            expect(init[1]).toEqualEpsilon(result.pitch, CesiumMath.EPSILON11);
-            expect(init[2]).toEqualEpsilon(result.roll, CesiumMath.EPSILON11);
-        }
-    });
-
     it('conversion from degrees', function() {
         var testingTab = [
             [0, 0, 0],

diff --git a/Specs/Core/Matrix3Spec.js b/Specs/Core/Matrix3Spec.js
@@ -147,51 +147,6 @@ defineSuite([
         expect(returnedResult).toEqualEpsilon(expected, CesiumMath.EPSILON15);
     });
 
-    it('fromHeadingPitchRoll computed correctly', function() {
-        // Expected generated via STK Components
-        var expected = new Matrix3(
-            0.754406506735489, 0.418940943945763, 0.505330889696038,
-            0.133022221559489, 0.656295369162553, -0.742685314912828,
-            -0.642787609686539, 0.627506871597133, 0.439385041770705);
-
-        var headingPitchRoll = new HeadingPitchRoll(-CesiumMath.toRadians(10), -CesiumMath.toRadians(40), CesiumMath.toRadians(55));
-        var result = new Matrix3();
-        var returnedResult = Matrix3.fromHeadingPitchRoll(headingPitchRoll, result);
-        expect(result).toBe(returnedResult);
-        expect(returnedResult).toEqualEpsilon(expected, CesiumMath.EPSILON15);
-    });
-
-    it('fromHeadingPitchRoll works without a result parameter', function() {
-        var sPiOver4 = Math.sin(CesiumMath.PI_OVER_FOUR);
-        var cPiOver4 = Math.cos(CesiumMath.PI_OVER_FOUR);
-        var sPiOver2 = Math.sin(CesiumMath.PI_OVER_TWO);
-        var cPiOver2 = Math.cos(CesiumMath.PI_OVER_TWO);
-
-        var tmp = Cartesian3.multiplyByScalar(new Cartesian3(0.0, 0.0, 1.0), sPiOver4, new Cartesian3());
-        var quaternion = new Quaternion(tmp.x, tmp.y, tmp.z, cPiOver4);
-        var headingPitchRoll = HeadingPitchRoll.fromQuaternion(quaternion, undefined, true);
-        var expected = new Matrix3(cPiOver2, -sPiOver2, 0.0, sPiOver2, cPiOver2, 0.0, 0.0, 0.0, 1.0);
-
-        var returnedResult = Matrix3.fromHeadingPitchRoll(headingPitchRoll, undefined, true);
-        expect(returnedResult).toEqualEpsilon(expected, CesiumMath.EPSILON15);
-    });
-
-    it('fromHeadingPitchRoll works with a result parameter', function() {
-        var sPiOver4 = Math.sin(CesiumMath.PI_OVER_FOUR);
-        var cPiOver4 = Math.cos(CesiumMath.PI_OVER_FOUR);
-        var sPiOver2 = Math.sin(CesiumMath.PI_OVER_TWO);
-        var cPiOver2 = Math.cos(CesiumMath.PI_OVER_TWO);
-
-        var tmp = Cartesian3.multiplyByScalar(new Cartesian3(0.0, 0.0, 1.0), sPiOver4, new Cartesian3());
-        var quaternion = new Quaternion(tmp.x, tmp.y, tmp.z, cPiOver4);
-        var headingPitchRoll = HeadingPitchRoll.fromQuaternion(quaternion, undefined, true);
-        var expected = new Matrix3(cPiOver2, -sPiOver2, 0.0, sPiOver2, cPiOver2, 0.0, 0.0, 0.0, 1.0);
-        var result = new Matrix3();
-        var returnedResult = Matrix3.fromHeadingPitchRoll(headingPitchRoll, result, true);
-        expect(result).toBe(returnedResult);
-        expect(returnedResult).toEqualEpsilon(expected, CesiumMath.EPSILON15);
-    });
-
     it('fromHeadingPitchRoll computed correctly', function() {
         // Expected generated via STK Components
         var expected = new Matrix3(
@@ -201,7 +156,7 @@ defineSuite([
 
         var headingPitchRoll = new HeadingPitchRoll(CesiumMath.toRadians(10), CesiumMath.toRadians(40), CesiumMath.toRadians(55));
         var result = new Matrix3();
-        var returnedResult = Matrix3.fromHeadingPitchRoll(headingPitchRoll, result, true);
+        var returnedResult = Matrix3.fromHeadingPitchRoll(headingPitchRoll, result);
         expect(result).toBe(returnedResult);
         expect(returnedResult).toEqualEpsilon(expected, CesiumMath.EPSILON15);
     });

diff --git a/Specs/Core/QuaternionSpec.js b/Specs/Core/QuaternionSpec.js
@@ -108,14 +108,14 @@ defineSuite([
         var angle = CesiumMath.toRadians(20.0);
         var hpr = new HeadingPitchRoll(angle, 0.0, 0.0);
         var quaternion = Quaternion.fromHeadingPitchRoll(hpr);
-        expect(Matrix3.fromQuaternion(quaternion)).toEqualEpsilon(Matrix3.fromRotationZ(-angle), CesiumMath.EPSILON11);
+        expect(Matrix3.fromQuaternion(quaternion)).toEqualEpsilon(Matrix3.fromRotationZ(angle), CesiumMath.EPSILON11);
     });
 
     it('fromHeadingPitchRoll with just pitch', function() {
         var angle = CesiumMath.toRadians(20.0);
         var hpr = new HeadingPitchRoll(0.0, angle, 0.0);
         var quaternion = Quaternion.fromHeadingPitchRoll(hpr);
-        expect(Matrix3.fromQuaternion(quaternion)).toEqualEpsilon(Matrix3.fromRotationY(-angle), CesiumMath.EPSILON11);
+        expect(Matrix3.fromQuaternion(quaternion)).toEqualEpsilon(Matrix3.fromRotationY(angle), CesiumMath.EPSILON11);
     });
 
     it('fromHeadingPitchRoll with just roll', function() {
@@ -130,81 +130,28 @@ defineSuite([
         var hpr = new HeadingPitchRoll( angle, angle, angle);
         var quaternion = Quaternion.fromHeadingPitchRoll(hpr);
         var expected = Matrix3.fromRotationX(angle);
-        Matrix3.multiply(Matrix3.fromRotationY(-angle), expected, expected);
-        Matrix3.multiply(Matrix3.fromRotationZ(-angle), expected, expected);
-        expect(Matrix3.fromQuaternion(quaternion)).toEqualEpsilon(expected, CesiumMath.EPSILON11);
-    });
-
-    it('fromHeadingPitchRoll with all angles (2)', function() {
-        var heading =  CesiumMath.toRadians(180.0);
-        var pitch = CesiumMath.toRadians(-45.0);
-        var roll = CesiumMath.toRadians(45.0);
-        var hpr = new HeadingPitchRoll( heading, pitch, roll);
-        var quaternion = Quaternion.fromHeadingPitchRoll(hpr);
-        var expected = Matrix3.fromRotationX(roll);
-        Matrix3.multiply(Matrix3.fromRotationY(-pitch), expected, expected);
-        Matrix3.multiply(Matrix3.fromRotationZ(-heading), expected, expected);
-        expect(Matrix3.fromQuaternion(quaternion)).toEqualEpsilon(expected, CesiumMath.EPSILON11);
-    });
-
-    it('fromHeadingPitchRoll works with result parameter', function() {
-        var angle = CesiumMath.toRadians(20.0);
-        var hpr = new HeadingPitchRoll(0.0, 0.0, angle);
-        var result = new Quaternion();
-        var quaternion = Quaternion.fromHeadingPitchRoll(hpr, result);
-        var expected = Quaternion.fromRotationMatrix(Matrix3.fromRotationX(angle));
-        expect(quaternion).toBe(result);
-        expect(quaternion).toEqualEpsilon(expected, CesiumMath.EPSILON11);
-    });
-
-    it('fromDirectHeadingPitchRoll with just heading', function() {
-        var angle = CesiumMath.toRadians(20.0);
-        var hpr = new HeadingPitchRoll(angle, 0.0, 0.0);
-        var quaternion = Quaternion.fromHeadingPitchRoll(hpr, undefined, true);
-        expect(Matrix3.fromQuaternion(quaternion)).toEqualEpsilon(Matrix3.fromRotationZ(angle), CesiumMath.EPSILON11);
-    });
-
-    it('fromDirectHeadingPitchRoll with just pitch', function() {
-        var angle = CesiumMath.toRadians(20.0);
-        var hpr = new HeadingPitchRoll(0.0, angle, 0.0);
-        var quaternion = Quaternion.fromHeadingPitchRoll(hpr, undefined, true);
-        expect(Matrix3.fromQuaternion(quaternion)).toEqualEpsilon(Matrix3.fromRotationY(angle), CesiumMath.EPSILON11);
-    });
-
-    it('fromDirectHeadingPitchRoll with just roll', function() {
-        var angle = CesiumMath.toRadians(20.0);
-        var hpr = new HeadingPitchRoll( 0.0, 0.0, angle);
-        var quaternion = Quaternion.fromHeadingPitchRoll(hpr, undefined, true);
-        expect(Matrix3.fromQuaternion(quaternion)).toEqualEpsilon(Matrix3.fromRotationX(angle), CesiumMath.EPSILON11);
-    });
-
-    it('fromDirectHeadingPitchRoll with all angles (1)', function() {
-        var angle = CesiumMath.toRadians(20.0);
-        var hpr = new HeadingPitchRoll( angle, angle, angle);
-        var quaternion = Quaternion.fromHeadingPitchRoll(hpr, undefined, true);
-        var expected = Matrix3.fromRotationX(angle);
         Matrix3.multiply(Matrix3.fromRotationY(angle), expected, expected);
         Matrix3.multiply(Matrix3.fromRotationZ(angle), expected, expected);
         expect(Matrix3.fromQuaternion(quaternion)).toEqualEpsilon(expected, CesiumMath.EPSILON11);
     });
 
-    it('fromDirectHeadingPitchRoll with all angles (2)', function() {
+    it('fromHeadingPitchRoll with all angles (2)', function() {
         var heading =  CesiumMath.toRadians(180.0);
         var pitch = CesiumMath.toRadians(-45.0);
         var roll = CesiumMath.toRadians(45.0);
         var hpr = new HeadingPitchRoll( heading, pitch, roll);
-        var quaternion = Quaternion.fromHeadingPitchRoll(hpr, undefined, true);
+        var quaternion = Quaternion.fromHeadingPitchRoll(hpr);
         var expected = Matrix3.fromRotationX(roll);
         Matrix3.multiply(Matrix3.fromRotationY(pitch), expected, expected);
         Matrix3.multiply(Matrix3.fromRotationZ(heading), expected, expected);
         expect(Matrix3.fromQuaternion(quaternion)).toEqualEpsilon(expected, CesiumMath.EPSILON11);
     });
 
-    it('fromDirectHeadingPitchRoll works with result parameter', function() {
+    it('fromHeadingPitchRoll works with result parameter', function() {
         var angle = CesiumMath.toRadians(20.0);
         var hpr = new HeadingPitchRoll(0.0, 0.0, angle);
         var result = new Quaternion();
-        var quaternion = Quaternion.fromHeadingPitchRoll(hpr, result, true);
+        var quaternion = Quaternion.fromHeadingPitchRoll(hpr, result);
         var expected = Quaternion.fromRotationMatrix(Matrix3.fromRotationX(angle));
         expect(quaternion).toBe(result);
         expect(quaternion).toEqualEpsilon(expected, CesiumMath.EPSILON11);