Close #29

Based on the documentation of euler angles, the bounds for holonomic
computation of elevation is from 90 to -90 degrees. this bound needs to
be enforced by the rotation object.

Author: madhephaestus

src/main/java/com/neuronrobotics/sdk/addons/kinematics/math/RotationNR.java

@@ -45,6 +45,9 @@ public RotationNR(double tilt, double azumeth, double elevation) {
 			throw new RuntimeException("Value can not be NaN");
 		if (Double.isNaN(elevation))
 			throw new RuntimeException("Value can not be NaN");
+		if(elevation >90 || elevation <-90){
+			throw new RuntimeException("Elevation can not be greater than 90 nor less than -90");
+		}
 		loadFromAngles(tilt, azumeth, elevation);
 		if (Double.isNaN(getRotationMatrix2QuaturnionW()) || Double.isNaN(getRotationMatrix2QuaturnionX())
 				|| Double.isNaN(getRotationMatrix2QuaturnionY()) || Double.isNaN(getRotationMatrix2QuaturnionZ())) {

test/java/src/junit/test/neuronrobotics/utilities/ApacheCommonsRotationTest.java

@@ -0,0 +1,48 @@
+package junit.test.neuronrobotics.utilities;
+
+import static org.junit.Assert.*;
+
+import org.apache.commons.math3.geometry.euclidean.threed.Rotation;
+import org.apache.commons.math3.geometry.euclidean.threed.RotationConvention;
+import org.apache.commons.math3.geometry.euclidean.threed.RotationOrder;
+import org.junit.Test;
+
+import com.neuronrobotics.sdk.addons.kinematics.math.RotationNR;
+
+public class ApacheCommonsRotationTest {
+
+	@Test
+	public void test() {
+		int failCount = 0;
+		int iterations = 10;
+		RotationOrder[] list = { RotationOrder.XYZ
+				
+		};
+		RotationConvention[] conventions = { RotationConvention.FRAME_TRANSFORM, RotationConvention.VECTOR_OPERATOR };
+		for (RotationConvention convention : conventions) {
+			System.out.println("\n\nUsing convention " + convention.toString());
+			for (RotationOrder order : list) {
+				System.out.println("\n\nUsing rotationOrder " + order.toString());
+				
+				double tilt = Math.toRadians((Math.random() * 359) - 179.5);
+				double elevation = Math.toRadians((Math.random() * 180) -90);
+				double azumus = Math.toRadians((Math.random() * 359) - 179.5);
+				
+				Rotation tester = new Rotation(order, convention, azumus, elevation, tilt);
+				
+				double [] vals = tester.getAngles(order, convention);
+				
+				double tiltNew = vals[2];
+				double elevationNew = vals[1];
+				double azumusNew = vals[0];
+				
+				assertEquals(tilt, tiltNew, 0.001);
+				assertEquals(elevation, elevationNew, 0.001);
+				assertEquals(azumus, azumusNew, 0.001);
+
+				
+			}
+		}
+	}
+
+}

test/java/src/junit/test/neuronrobotics/utilities/RotationNRTest.java

@@ -22,10 +22,7 @@ public class RotationNRTest {
 	public void test() {
 		int failCount = 0;
 		int iterations = 10;
-		RotationOrder[] list = { RotationOrder.XYZ, 
-				RotationOrder.XZY, RotationOrder.YXZ, RotationOrder.YZX,
-				RotationOrder.ZXY, RotationOrder.ZYX, RotationOrder.XYX, RotationOrder.XZX, RotationOrder.YXY,
-				RotationOrder.YZY, RotationOrder.ZXZ, RotationOrder.ZYZ
+		RotationOrder[] list = { RotationOrder.XYZ
 
 		};
 		RotationConvention[] conventions = { RotationConvention.FRAME_TRANSFORM, RotationConvention.VECTOR_OPERATOR };
@@ -38,7 +35,7 @@ public void test() {
 				failCount = 0;
 				for (int i = 0; i < iterations; i++) {
 					double tilt = Math.toRadians((Math.random() * 359) - 179.5);
-					double elevation = Math.toRadians((Math.random() * 359) - 179.5);
+					double elevation = Math.toRadians((Math.random() * 180) - 90);
 					double azumus = Math.toRadians((Math.random() * 359) - 179.5);
 					RotationNR rotTest = new RotationNR(Math.toDegrees(tilt), Math.toDegrees(azumus),
 							Math.toDegrees(elevation));