def test_from_rodrigues(self): rod_list_1 = [0, 0, 0] r1 = RotationD(rod_list_1) numpy.testing.assert_equal(r1.rodrigues(), rod_list_1) # This one will get normalized by magnitude in rotation instance # This vector's is less than 2*pi, so we should expect this vector to be # returned as is. rod2 = numpy.array([2, -1, 0.5]) nod2_normed = array_normalize(rod2) print("r2 2-norm:", numpy.linalg.norm(rod2)) print("r2-normed:", nod2_normed) r2 = RotationD(rod2) numpy.testing.assert_array_almost_equal( r2.rodrigues(), rod2, decimal=14, # 1e-14 )
def test_to_rodrigues(self): # rodrigues identity: [0,0,0] ident_rod = [0, 0, 0] rot_d = RotationD() rot_f = RotationF() rod = rot_d.rodrigues() numpy.testing.assert_equal(rod, ident_rod) rod = rot_f.rodrigues() numpy.testing.assert_equal(rod, ident_rod)