Cleaned up printing of NavState
							parent
							
								
									7815a27e21
								
							
						
					
					
						commit
						d3ac33ac18
					
				|  | @ -88,15 +88,15 @@ Matrix7 NavState::matrix() const { | |||
| 
 | ||||
| //------------------------------------------------------------------------------
 | ||||
| ostream& operator<<(ostream& os, const NavState& state) { | ||||
|   os << "R:" << state.attitude(); | ||||
|   os << "p:" << state.position() << endl; | ||||
|   os << "v:" << Point3(state.velocity()) << endl; | ||||
|   os << "R: " << state.attitude() << "\n"; | ||||
|   os << "p: " << state.position() << "\n"; | ||||
|   os << "v: " << Point3(state.velocity()); | ||||
|   return os; | ||||
| } | ||||
| 
 | ||||
| //------------------------------------------------------------------------------
 | ||||
| void NavState::print(const string& s) const { | ||||
|   cout << s << *this << endl; | ||||
|   cout << (s.empty() ? s : s + " ") << *this << endl; | ||||
| } | ||||
| 
 | ||||
| //------------------------------------------------------------------------------
 | ||||
|  |  | |||
|  | @ -237,6 +237,18 @@ TEST(NavState, CorrectPIM) { | |||
|   EXPECT(assert_equal(numericalDerivative22(correctPIM, kState1, xi), aH2)); | ||||
| } | ||||
| 
 | ||||
| /* ************************************************************************* */ | ||||
| TEST(NavState, Stream) | ||||
| { | ||||
|   NavState state; | ||||
| 
 | ||||
|   std::ostringstream os; | ||||
|   os << state; | ||||
|   string expected = "R: [\n\t1, 0, 0;\n\t0, 1, 0;\n\t0, 0, 1\n]\np: [0, 0, 0]'\nv: [0, 0, 0]'"; | ||||
|   EXPECT(os.str() == expected); | ||||
| } | ||||
| 
 | ||||
| 
 | ||||
| /* ************************************************************************* */ | ||||
| int main() { | ||||
|   TestResult tr; | ||||
|  |  | |||
		Loading…
	
		Reference in New Issue