From aff51fd9283873477a1ae1dce55d2c5d10450956 Mon Sep 17 00:00:00 2001
From: Claudio Mandrioli <claudio.mandrioli@control.lth.se>
Date: Thu, 28 Feb 2019 11:00:06 +0100
Subject: [PATCH] added test case for function Rt2d
---
matlab/tests/main_runAllTests.m | 2 +-
matlab/tests/test_Rt2d.m | 25 +++++++++++++++++++++++++
2 files changed, 26 insertions(+), 1 deletion(-)
create mode 100644 matlab/tests/test_Rt2d.m
diff --git a/matlab/tests/main_runAllTests.m b/matlab/tests/main_runAllTests.m
index 1ae7a6e..d58750d 100644
--- a/matlab/tests/main_runAllTests.m
+++ b/matlab/tests/main_runAllTests.m
@@ -13,4 +13,4 @@ test_GPSaidedINS_cycling
test_gravity
test_Nav_eq
test_q2dcm
-% test_Rt2d
\ No newline at end of file
+test_Rt2d
\ No newline at end of file
diff --git a/matlab/tests/test_Rt2d.m b/matlab/tests/test_Rt2d.m
new file mode 100644
index 0000000..3c6330e
--- /dev/null
+++ b/matlab/tests/test_Rt2d.m
@@ -0,0 +1,25 @@
+% test case for function Rt2d
+
+%purpose: test the function in basic case to verify it runs correctly, i.e.
+% returns a 3x3 matrix
+
+%oracle: the rotation matrix with null angles should be the identity
+% matrix
+
+clear all %clear workspace
+close all
+cd .. %move to functions directory
+
+%initialize inputs
+ang=[0,0,0];
+%execute function
+R=Rt2b(ang);
+
+cd tests %go back to tests directory
+
+%verify output
+if ~(R==eye(3))
+ error('error in function Rt2d')
+else
+ disp('function Rt2d ok')
+end
\ No newline at end of file
--
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