import { HeadingPitchRoll } from "../../Source/Cesium.js";
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import { Math as CesiumMath } from "../../Source/Cesium.js";
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import { Quaternion } from "../../Source/Cesium.js";
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describe("Core/HeadingPitchRoll", function () {
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var deg2rad = CesiumMath.RADIANS_PER_DEGREE;
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it("construct with default values", function () {
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var headingPitchRoll = new HeadingPitchRoll();
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expect(headingPitchRoll.heading).toEqual(0.0);
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expect(headingPitchRoll.pitch).toEqual(0.0);
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expect(headingPitchRoll.roll).toEqual(0.0);
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});
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it("construct with all values", function () {
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var headingPitchRoll = new HeadingPitchRoll(
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1.0 * deg2rad,
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2.0 * deg2rad,
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3.0 * deg2rad
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);
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expect(headingPitchRoll.heading).toEqual(
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1.0 * deg2rad,
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2.0 * deg2rad,
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3.0 * deg2rad
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);
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expect(headingPitchRoll.pitch).toEqual(
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2.0 * deg2rad,
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2.0 * deg2rad,
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3.0 * deg2rad
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);
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expect(headingPitchRoll.roll).toEqual(
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3.0 * deg2rad,
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2.0 * deg2rad,
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3.0 * deg2rad
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);
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});
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it("conversion from quaternion", function () {
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var testingTab = [
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[0, 0, 0],
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[90 * deg2rad, 0, 0],
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[-90 * deg2rad, 0, 0],
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[0, 89 * deg2rad, 0],
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[0, -89 * deg2rad, 0],
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[0, 0, 90 * deg2rad],
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[0, 0, -90 * deg2rad],
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[30 * deg2rad, 30 * deg2rad, 30 * deg2rad],
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[-30 * deg2rad, -30 * deg2rad, 45 * deg2rad],
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];
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var hpr = new HeadingPitchRoll();
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for (var i = 0; i < testingTab.length; i++) {
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var init = testingTab[i];
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hpr.heading = init[0];
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hpr.pitch = init[1];
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hpr.roll = init[2];
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var result = HeadingPitchRoll.fromQuaternion(
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Quaternion.fromHeadingPitchRoll(hpr)
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);
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expect(init[0]).toEqualEpsilon(result.heading, CesiumMath.EPSILON11);
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expect(init[1]).toEqualEpsilon(result.pitch, CesiumMath.EPSILON11);
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expect(init[2]).toEqualEpsilon(result.roll, CesiumMath.EPSILON11);
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}
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});
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it("it should return the correct pitch, even with a quaternion rounding error", function () {
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var q = new Quaternion(
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8.801218199179452e-17,
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-0.7071067801637715,
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-8.801218315071006e-17,
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-0.7071067822093238
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);
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var result = HeadingPitchRoll.fromQuaternion(q);
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expect(result.pitch).toEqual(-(Math.PI / 2));
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});
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it("conversion from degrees", function () {
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var testingTab = [
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[0, 0, 0],
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[90, 0, 0],
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[-90, 0, 0],
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[0, 89, 0],
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[0, -89, 0],
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[0, 0, 90],
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[0, 0, -90],
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[30, 30, 30],
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[-30, -30, 45],
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];
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for (var i = 0; i < testingTab.length; i++) {
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var init = testingTab[i];
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var result = HeadingPitchRoll.fromDegrees(init[0], init[1], init[2]);
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expect(init[0] * deg2rad).toEqualEpsilon(
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result.heading,
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CesiumMath.EPSILON11
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);
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expect(init[1] * deg2rad).toEqualEpsilon(
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result.pitch,
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CesiumMath.EPSILON11
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);
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expect(init[2] * deg2rad).toEqualEpsilon(
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result.roll,
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CesiumMath.EPSILON11
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);
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}
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});
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it("fromDegrees with result", function () {
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var headingDeg = -115;
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var pitchDeg = 37;
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var rollDeg = 40;
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var headingRad = headingDeg * deg2rad;
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var pitchRad = pitchDeg * deg2rad;
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var rollRad = rollDeg * deg2rad;
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var result = new HeadingPitchRoll();
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var actual = HeadingPitchRoll.fromDegrees(
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headingDeg,
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pitchDeg,
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rollDeg,
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result
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);
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var expected = new HeadingPitchRoll(headingRad, pitchRad, rollRad);
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expect(actual).toEqual(expected);
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expect(actual).toBe(result);
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});
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it("clone with a result parameter", function () {
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var headingPitchRoll = new HeadingPitchRoll(
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1.0 * deg2rad,
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2.0 * deg2rad,
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3.0 * deg2rad
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);
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var result = new HeadingPitchRoll();
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var returnedResult = HeadingPitchRoll.clone(headingPitchRoll, result);
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expect(headingPitchRoll).not.toBe(result);
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expect(result).toBe(returnedResult);
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expect(headingPitchRoll).toEqual(result);
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});
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it("clone works with a result parameter that is an input parameter", function () {
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var headingPitchRoll = new HeadingPitchRoll(
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1.0 * deg2rad,
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2.0 * deg2rad,
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3.0 * deg2rad
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);
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var returnedResult = HeadingPitchRoll.clone(
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headingPitchRoll,
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headingPitchRoll
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);
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expect(headingPitchRoll).toBe(returnedResult);
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});
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it("equals", function () {
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var headingPitchRoll = new HeadingPitchRoll(1.0, 2.0, 3.0);
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expect(
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HeadingPitchRoll.equals(
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headingPitchRoll,
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new HeadingPitchRoll(1.0, 2.0, 3.0)
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)
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).toEqual(true);
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expect(
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HeadingPitchRoll.equals(
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headingPitchRoll,
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new HeadingPitchRoll(2.0, 2.0, 3.0)
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)
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).toEqual(false);
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expect(
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HeadingPitchRoll.equals(
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headingPitchRoll,
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new HeadingPitchRoll(2.0, 1.0, 3.0)
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)
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).toEqual(false);
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expect(
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HeadingPitchRoll.equals(
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headingPitchRoll,
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new HeadingPitchRoll(1.0, 2.0, 4.0)
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)
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).toEqual(false);
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expect(HeadingPitchRoll.equals(headingPitchRoll, undefined)).toEqual(false);
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});
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it("equalsEpsilon", function () {
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var headingPitchRoll = new HeadingPitchRoll(1.0, 2.0, 3.0);
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expect(
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headingPitchRoll.equalsEpsilon(new HeadingPitchRoll(1.0, 2.0, 3.0), 0.0)
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).toEqual(true);
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expect(
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headingPitchRoll.equalsEpsilon(new HeadingPitchRoll(1.0, 2.0, 3.0), 1.0)
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).toEqual(true);
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expect(
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headingPitchRoll.equalsEpsilon(new HeadingPitchRoll(2.0, 2.0, 3.0), 1.0)
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).toEqual(true);
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expect(
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headingPitchRoll.equalsEpsilon(new HeadingPitchRoll(1.0, 3.0, 3.0), 1.0)
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).toEqual(true);
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expect(
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headingPitchRoll.equalsEpsilon(new HeadingPitchRoll(1.0, 2.0, 4.0), 1.0)
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).toEqual(true);
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expect(
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headingPitchRoll.equalsEpsilon(
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new HeadingPitchRoll(2.0, 2.0, 3.0),
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CesiumMath.EPSILON6
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)
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).toEqual(false);
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expect(
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headingPitchRoll.equalsEpsilon(
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new HeadingPitchRoll(1.0, 3.0, 3.0),
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CesiumMath.EPSILON6
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)
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).toEqual(false);
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expect(
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headingPitchRoll.equalsEpsilon(
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new HeadingPitchRoll(1.0, 2.0, 4.0),
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CesiumMath.EPSILON6
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)
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).toEqual(false);
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expect(headingPitchRoll.equalsEpsilon(undefined, 1)).toEqual(false);
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headingPitchRoll = new HeadingPitchRoll(3000000.0, 4000000.0, 5000000.0);
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expect(
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headingPitchRoll.equalsEpsilon(
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new HeadingPitchRoll(3000000.0, 4000000.0, 5000000.0),
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0.0
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)
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).toEqual(true);
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expect(
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headingPitchRoll.equalsEpsilon(
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new HeadingPitchRoll(3000000.2, 4000000.0, 5000000.0),
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CesiumMath.EPSILON7
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)
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).toEqual(true);
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expect(
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headingPitchRoll.equalsEpsilon(
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new HeadingPitchRoll(3000000.0, 4000000.2, 5000000.0),
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CesiumMath.EPSILON7
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)
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).toEqual(true);
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expect(
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headingPitchRoll.equalsEpsilon(
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new HeadingPitchRoll(3000000.0, 4000000.0, 5000000.2),
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CesiumMath.EPSILON7
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)
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).toEqual(true);
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expect(
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headingPitchRoll.equalsEpsilon(
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new HeadingPitchRoll(3000000.2, 4000000.2, 5000000.2),
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CesiumMath.EPSILON7
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)
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).toEqual(true);
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expect(
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headingPitchRoll.equalsEpsilon(
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new HeadingPitchRoll(3000000.2, 4000000.2, 5000000.2),
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CesiumMath.EPSILON9
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)
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).toEqual(false);
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expect(headingPitchRoll.equalsEpsilon(undefined, 1)).toEqual(false);
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expect(
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HeadingPitchRoll.equalsEpsilon(undefined, headingPitchRoll, 1)
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).toEqual(false);
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});
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it("toString", function () {
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var headingPitchRoll = new HeadingPitchRoll(1.123, 2.345, 6.789);
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expect(headingPitchRoll.toString()).toEqual("(1.123, 2.345, 6.789)");
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});
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it("fromQuaternion throws with no parameter", function () {
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expect(function () {
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HeadingPitchRoll.fromQuaternion();
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}).toThrowDeveloperError();
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});
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var scratchHeadingPitchRoll = new HeadingPitchRoll();
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it("fromDegrees throws with no heading parameter", function () {
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expect(function () {
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HeadingPitchRoll.fromDegrees(undefined, 0, 0, scratchHeadingPitchRoll);
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}).toThrowDeveloperError();
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expect(function () {
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HeadingPitchRoll.fromDegrees(undefined, 0, 0);
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}).toThrowDeveloperError();
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});
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it("fromDegrees throws with no pitch parameter", function () {
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expect(function () {
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HeadingPitchRoll.fromDegrees(0, undefined, 0, scratchHeadingPitchRoll);
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}).toThrowDeveloperError();
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expect(function () {
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HeadingPitchRoll.fromDegrees(0, undefined, 0);
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}).toThrowDeveloperError();
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});
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it("fromDegrees throws with no roll parameter", function () {
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expect(function () {
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HeadingPitchRoll.fromDegrees(0, 0, undefined, scratchHeadingPitchRoll);
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}).toThrowDeveloperError();
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expect(function () {
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HeadingPitchRoll.fromDegrees(0, 0, undefined);
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}).toThrowDeveloperError();
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});
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});
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