How to use

getYawPitchRoll

method

in

us.ihmc.euclid.tuple4D.Quaternion

  @Test
  public void testSingularitiesYawPitchRoll() throws Exception
  {
   Quaternion quaternion = new Quaternion();
   quaternion.setYawPitchRoll(0.5 * Math.PI, 0.0, 1e-9 - 0.5 * Math.PI);
   double[] yawPitchRoll = new double[3];
   quaternion.getYawPitchRoll(yawPitchRoll);
  }
}

@ContinuousIntegrationTest(estimatedDuration = 0.0)
@Test(timeout = 30000)
public void testQuaternionStuff()
{
 Quaternion q = new Quaternion();
 int nTests = 100;
 for (int i = 0; i < nTests; i++)
 {
   double pi = Math.PI;
   double yaw = (random.nextDouble() - 0.5) * 2.0 * pi;
   double pitch = (random.nextDouble() - 0.5) * 0.5 * pi;
   double roll = (random.nextDouble() - 0.5) * 2.0 * pi;
   double[] yawPitchRoll = {yaw, pitch, roll};
   q.setYawPitchRoll(yaw, pitch, roll);
   double[] yawPitchRollBack = new double[3];
   q.getYawPitchRoll(yawPitchRollBack);
   double epsilon = 1e-8;
   localAssertArrayEquals(yawPitchRoll, yawPitchRollBack, epsilon);
 }
}