def test_wrap_pi(self):
"""
Test wrapping angles to [-PI, PI]
Data Source: Example generated using book GNSS Applications and Methods
Chapter 7 library function: unwrapyaw.m
"""
angles1 = np.radians([0, 3, 175, 179, 180.1, 189, 190, 250, 380])
angles2 = np.radians([0, 3, 175, -179, -180.1, 189, -190, 250, -380])
angles1_wrap_expected = [
0.0, 0.05236, 3.05433, 3.12414, -3.13985, -2.98451, -2.96706,
-1.91986, 0.34907
]
angles2_wrap_expected = [
0.0, 0.05236, 3.05433, -3.12414, 3.13985, -2.98451, 2.96706,
-1.91986, -0.34907
]
# Current problem: Demoz converts +/- 180 degrees to +pi
np.testing.assert_almost_equal(angles1_wrap_expected,
navpy.wrapToPi(angles1),
decimal=5)
np.testing.assert_almost_equal(angles2_wrap_expected,
navpy.wrapToPi(angles2),
decimal=5)
def test_wrap_pi(self):
"""
Test wrapping angles to [-PI, PI]
Data Source: Example generated using book GNSS Applications and Methods
Chapter 7 library function: unwrapyaw.m
"""
angles1 = np.radians([0, 3, 175, 179, 180.1, 189, 190, 250, 380])
angles2 = np.radians([0, 3, 175, -179, -180.1, 189, -190, 250, -380])
angles1_wrap_expected = [0.0, 0.05236, 3.05433, 3.12414, -3.13985, -2.98451, -2.96706, -1.91986, 0.34907]
angles2_wrap_expected = [0.0, 0.05236, 3.05433, -3.12414, 3.13985, -2.98451, 2.96706, -1.91986, -0.34907]
# Current problem: Demoz converts +/- 180 degrees to +pi
np.testing.assert_almost_equal(angles1_wrap_expected, navpy.wrapToPi(angles1), decimal=5)
np.testing.assert_almost_equal(angles2_wrap_expected, navpy.wrapToPi(angles2), decimal=5)