added test to make sure ov is being calculated correctly

[bgrigsby8]

No description provided.

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[dgottlieb]

@bgrigsby8 the test you added seems to be failing. How did you determine the correct answer?

[dgottlieb]

I think you meant to use OrientationVectorDegrees here. The test still fails, but much more reasonably:

=== RUN   TestOrientationVectorPoleRadius
    orientation_test.go:161: Expected '90.20295555178383' to almost equal '90.2029644505' (but it didn't)!

I am confused though why if I instead change everything to radians, the test failure gets worse. Code:

	ov := &OrientationVector{Theta: 1.5743387247206226, OX: 0.0050164674, OY: 0.0079070413, OZ: 0.9999561559}
	q := Quaternion(ov.Quaternion())
	composedOv := q.OrientationVectorRadians()
	test.That(t, composedOv.Theta, test.ShouldAlmostEqual, ov.Theta, 0.000001)

Gives:

=== RUN   TestOrientationVectorPoleRadius
    orientation_test.go:162: Expected '0.009364093511798814' to almost equal '0.00501646740007625' (but it didn't)!

[dgottlieb]

(I assume theta is the only thing in degrees/radians, but I don't really know any of this stuff)

[bgrigsby8]

Yes, this test was meant to fail. I was meant to use OrientationVectorDegrees, but this orientation_test.go:162: Expected '0.009364093511798814' to almost equal '0.00501646740007625' (but it didn't)! is what im experiencing and real life and wanted to create a test to capture the failure. I'm working with @nicksanford on this

[github-actions]

Availability

Scene #	viamrobotics:main	viamrobotics:adjust-ov-pole-radius	Percent Improvement	Health
1	100%	100%	0%	➖
2	100%	100%	0%	➖
3	100%	100%	0%	➖
4	100%	100%	0%	➖
5	100%	100%	0%	➖
6	100%	100%	0%	➖
7	100%	100%	0%	➖
8	100%	100%	0%	➖
9	100%	100%	0%	➖
10	100%	100%	0%	➖

Quality

Scene #	viamrobotics:main	viamrobotics:adjust-ov-pole-radius	Percent Improvement	Probability of Improvement	Health
1	1.31±0.00	1.31±0.00	-0%	45%	➖
2	0.90±0.00	0.90±0.00	-0%	50%	➖
3	5.85±1.25	5.85±1.25	-0%	50%	➖
4	3.23±0.41	3.23±0.41	-0%	50%	➖
5	9.54±2.80	9.99±3.75	-5%	46%	➖
6	9.92±3.04	9.87±3.06	1%	50%	➖
7	5.85±2.79	5.88±2.77	-0%	50%	➖
8	0.90±0.00	0.90±0.00	-0%	50%	➖
9	4.38±0.23	4.29±0.21	2%	62%	➖
10	12.84±0.41	12.84±0.41	-0%	50%	➖

Performance

Scene #	viamrobotics:main	viamrobotics:adjust-ov-pole-radius	Percent Improvement	Probability of Improvement	Health
1	0.02±0.00	0.02±0.00	1%	53%	➖
2	0.06±0.01	0.06±0.01	-2%	45%	➖
3	0.08±0.06	0.08±0.06	-8%	47%	➖
4	1.29±0.09	1.27±0.06	1%	55%	➖
5	1.94±0.35	2.40±1.51	-23%	38%	➖
6	2.28±0.64	2.25±0.67	1%	51%	➖
7	2.47±0.74	2.43±0.71	1%	51%	➖
8	0.06±0.00	0.06±0.00	1%	55%	➖
9	2.17±0.15	2.21±0.16	-2%	43%	➖
10	6.30±1.04	6.33±1.05	-0%	49%	➖

The above data was generated by running scenes defined in the motion-testing repository
The SHA1 for viamrobotics:main is: 5385bdb0a6d8e617a53c351316b62a26a2b93ad4
The SHA1 for viamrobotics:adjust-ov-pole-radius is: 5385bdb0a6d8e617a53c351316b62a26a2b93ad4

• 10 samples were taken for each scene