changed debug assert for ctest.c, sparse quaternion roundtrip test for time save

Author: kenjihiranabe

drone_physics/ctest.c

@@ -1,8 +1,6 @@
 #include "drone_physics_debug.h"
 #include "drone_physics_osdep.h"
 
-#undef NDEBUG // force assert to work even if release bulid.
-
 const double PI = M_PI;
 
 void static test_frame_all_unit_vectors_with_some_angles() {

drone_physics/drone_physics_debug.h

@@ -76,10 +76,7 @@ static double diff_a(const dp_euler_t* a, const dp_euler_t* b) {
 static int AssertCount = 0;
 
 #define assert_almost_equal(a, b) \
-    assert((++AssertCount && diff(&(a), &(b)) <almost_tolerance) || (print_vec(a), fprintf(stderr, " <-?-> "), print_vec(b), fprintf(stderr, "!!\n"), 0))
-
-#define assert_almost_equal_euler(a, b) \
-    assert((++AssertCount && diff_e(&(a), &(b)) <almost_tolerance) || (print_ang(a), fprintf(stderr, " <-?-> "), print_ang(b), fprintf(stderr, "!!\n"), 0))
+    (++AssertCount, (diff(&(a), &(b)) <almost_tolerance) ?  1 : (print_vec(a), fprintf(stderr, " <-?-> "), print_vec(b), fprintf(stderr, "!!\n"), 0), assert ((diff(&(a), &(b)) <almost_tolerance)), 0)
 
 #define print_vec(v) \
     fprintf(stderr, "%s=(%g,%g,%g)", #v, v.x, v.y, v.z)

drone_physics/utest.cpp

@@ -4,8 +4,6 @@
 
 using namespace hako::drone_physics;
 
-#undef NDEBUG // force assert to work even if release bulid.
-
 const double PI = M_PI;
 
 void test_frame_all_unit_vectors_with_angle0() {
@@ -648,8 +646,8 @@ void sub_test_two_quaternion_velocity(double i, double j, double k, double l, co
 void test_quaternion_velocity_roundtrip() {
     for (double i = -10; i < 10; i += .5) {
         for (double j = -10; j < 10; j += .5) {
-            for (double k = -10; k < 10; k += .5) {
-                for (double l = -10; l < 10; l += .5) {
+            for (double k = -10; k < 10; k += 1.5) {
+                for (double l = -10; l < 10; l += 1.5) {
                     if (i == 0 && j == 0 && k == 0 && l == 0) continue;
                     // note dt = 0.01 will fail. 12/10/2024, too big. or av is too big.
                     sub_test_two_quaternion_velocity(i, j, k, l, {0.1, 0.1, 0.1}, 0.001);