This PR adds tests for the DQ_FreeFlyingRobot() class

[juanjqo]

@dqrobotics/developers

Hi @mmmarinho,

This PR adds tests for the DQ_FreeFlyingRobot() class.

List of modifications:

• Updated DQ_Kinematics_test.m to generate data for testing the DQ_FreeFlyingRobot class
• Renamed DQ_Kinematics_test.mat to DQ_Kinematics_test_25_11_2020.mat
• Generated a new mat file: DQ_Kinematics_test_16_05_2023.mat
• Included tests for the new class in DQ_Kinematics_test.py:

    def test_free_flying_robot_fkm(self):
        free_flying_pose_list = get_list_of_dq_from_mat('result_of_free_flying_robot_fkm', mat)
        for q, x in zip(h_list, free_flying_pose_list):
            self.assertEqual(free_flying_robot.fkm(q), x, "Error in DQ_FreeFlyingRobot.fkm")

    def test_free_flying_robot_pose_jacobian(self):
        free_flying_pose_jacobian_list = get_list_of_matrices_from_mat('result_of_free_flying_robot_pose_jacobian', mat)
        for q, J in zip(h_list, free_flying_pose_jacobian_list):
            numpy.testing.assert_almost_equal(free_flying_robot.pose_jacobian(q), J, threshold, "Error in DQ_FreeFlyingRobot.pose_jacobian")

• Updated DQ_Kinematics_pose_jacobian_derivative_tests.py to include a test for the pose jacobian derivative using numerical approaches, since the method DQ_FreeFlyingRobot::pose_jacobian_derivative(x_dot) is available only in Python/C++.

Best regards,

Juancho

[mmmarinho]

Waiting on dqrobotics/cpp#58