def setUp(self):
self.q1 = Quaternion(np.array([-1.0, 0.0, 0.0, 0.0]))
self.q2 = Quaternion(np.array([1.0, 2.0, 3.0, 4.0]))
self.q3 = Quaternion(np.array([3.0, 7.0, 9.0, 2.0]))
self.q4 = Quaternion(np.array([1.0, 2.0, -5.0, 1.0]))
self.q5 = Quaternion(np.array([0.7071, 0, 0, 0.7071]))
self.q6 = Quaternion(
np.array(
[0.9961946980917455, 0.000000, 0.000000, 0.08715574274765817]))
self.q7 = Quaternion(
np.array(
[0.9659258262890683, 0.000000, 0.000000, 0.25881904510252074]))
self.u1 = self.q1.unitary()
self.u2 = self.q2.unitary()
self.u3 = self.q3.unitary()
self.u4 = self.q4.unitary()
self.u5 = self.q5.unitary()
self.p1 = np.array([1.0, 0.0, 0.0])
def setUp(self):
tmp = np.array([0.2623303, 0.8853649, 0.1311652, -0.3607042])
self.q = Quaternion(tmp)
self.g = OrientationMatrix(self.q.toOrientationMatrix())
