Beispiel #1
0
    def test_quaternion_slerp(self):
        sqrt2 = np.sqrt(2) / 2

        identity = np.array([0.0, 0.0, 0.0, 1.0])
        y90rot = np.array([0.0, sqrt2, 0.0, sqrt2])
        y180rot = np.array([0.0, 1.0, 0.0, 0.0])

        # Testing a == 0
        # Must be id
        result = quaternion.slerp(identity, y90rot, 0.0)
        np.testing.assert_almost_equal(result, identity, decimal=4)

        # Testing a == 1
        # Must be 90° rotation on Y : 0 0.7 0 0.7
        result = quaternion.slerp(identity, y90rot, 1.0)
        np.testing.assert_almost_equal(result, y90rot, decimal=4)

        # Testing standard, easy case
        # Must be 45° rotation on Y : 0 0.38 0 0.92
        y45rot1 = quaternion.slerp(identity, y90rot, 0.5)

        # Testing reverse case
        # Must be 45° rotation on Y : 0 0.38 0 0.92
        y45rot2 = quaternion.slerp(y90rot, identity, 0.5)
        np.testing.assert_almost_equal(y45rot1, y45rot2, decimal=4)

        # Testing against full circle around the sphere instead of shortest path
        # Must be 45° rotation on Y
        # certainly not a 135° rotation
        # y45rot3 = quaternion.slerp(identity, quaternion.negate(y90rot), 0.5)
        y45rot3 = quaternion.slerp(identity, y90rot, 0.5)
        y45angle3 = quaternion.rotation_angle(y45rot3)
        np.testing.assert_almost_equal(y45angle3 * 180 / np.pi, 45, decimal=4)
        np.testing.assert_almost_equal(y45angle3, np.pi / 4, decimal=4)

        # # Same, but inverted
        # # Must also be 45° rotation on Y :  0 0.38 0 0.92
        # # -0 -0.38 -0 -0.92 is ok too
        y45rot4 = quaternion.slerp(-y90rot, identity, 0.5)
        np.testing.assert_almost_equal(np.abs(y45rot4), y45rot2, decimal=4)

        # # Testing q1 = q2
        # # Must be 90° rotation on Y : 0 0.7 0 0.7
        y90rot3 = quaternion.slerp(y90rot, y90rot, 0.5)
        np.testing.assert_almost_equal(y90rot3, y90rot, decimal=4)

        # # Testing 180° rotation
        # # Must be 90° rotation on almost any axis that is on the XZ plane
        xz90rot = quaternion.slerp(identity, -y90rot, 0.5)
        xz90rot = quaternion.rotation_angle(xz90rot)
        np.testing.assert_almost_equal(xz90rot, np.pi / 4, decimal=4)
    def test_quaternion_slerp(self):
        sqrt2 = np.sqrt(2) / 2

        identity = np.array([0.0, 0.0, 0.0, 1.0])
        y90rot = np.array([0.0, sqrt2, 0.0, sqrt2])
        y180rot = np.array([0.0, 1.0, 0.0, 0.0])

        # Testing a == 0
        # Must be id
        result = quaternion.slerp(identity, y90rot, 0.0)
        np.testing.assert_almost_equal(result, identity, decimal=4)

        # Testing a == 1
        # Must be 90° rotation on Y : 0 0.7 0 0.7
        result = quaternion.slerp(identity, y90rot, 1.0)
        np.testing.assert_almost_equal(result, y90rot, decimal=4)

        # Testing standard, easy case
        # Must be 45° rotation on Y : 0 0.38 0 0.92
        y45rot1 = quaternion.slerp(identity, y90rot, 0.5)

        # Testing reverse case
        # Must be 45° rotation on Y : 0 0.38 0 0.92
        y45rot2 = quaternion.slerp(y90rot, identity, 0.5)
        np.testing.assert_almost_equal(y45rot1, y45rot2, decimal=4)

        # Testing against full circle around the sphere instead of shortest path
        # Must be 45° rotation on Y
        # certainly not a 135° rotation
        # y45rot3 = quaternion.slerp(identity, quaternion.negate(y90rot), 0.5)
        y45rot3 = quaternion.slerp(identity, y90rot, 0.5)
        y45angle3 = quaternion.rotation_angle(y45rot3)
        np.testing.assert_almost_equal(y45angle3 * 180 / np.pi, 45, decimal=4)
        np.testing.assert_almost_equal(y45angle3, np.pi / 4, decimal=4)

        # # Same, but inverted
        # # Must also be 45° rotation on Y :  0 0.38 0 0.92
        # # -0 -0.38 -0 -0.92 is ok too
        y45rot4 = quaternion.slerp(-y90rot, identity, 0.5)
        np.testing.assert_almost_equal(np.abs(y45rot4), y45rot2, decimal=4)

        # # Testing q1 = q2
        # # Must be 90° rotation on Y : 0 0.7 0 0.7
        y90rot3 = quaternion.slerp(y90rot, y90rot, 0.5);
        np.testing.assert_almost_equal(y90rot3, y90rot, decimal=4)

        # # Testing 180° rotation
        # # Must be 90° rotation on almost any axis that is on the XZ plane
        xz90rot = quaternion.slerp(identity, -y90rot, 0.5)
        xz90rot = quaternion.rotation_angle(xz90rot)
        np.testing.assert_almost_equal(xz90rot, np.pi / 4, decimal=4)
Beispiel #3
0
 def test_rotation_angle(self):
     result = quaternion.rotation_angle(
         [5.77350000e-01, 5.77350000e-01, 5.77350000e-01, 6.12323400e-17])
     np.testing.assert_almost_equal(result, np.pi, decimal=5)
 def test_rotation_angle(self):
     result = quaternion.rotation_angle([5.77350000e-01, 5.77350000e-01, 5.77350000e-01, 6.12323400e-17])
     np.testing.assert_almost_equal(result, np.pi, decimal=5)
Beispiel #5
0
 def test_angle(self):
     q = Quaternion.from_x_rotation(np.pi / 2.0)
     self.assertEqual(q.angle, quaternion.rotation_angle(q))
Beispiel #6
0
 def test_angle(self):
     q = Quaternion.from_x_rotation(np.pi / 2.0)
     self.assertEqual(q.angle, quaternion.rotation_angle(q))