def test_as_v_thta(self):
x = [1.0, 0.0, 0.0]
q = Quaternion.from_v_theta(x, np.pi / 2)
expected_v = np.array(x)
expected_theta = np.pi / 2
actual_v, actual_theta = q.as_v_theta()
print actual_v, actual_theta, expected_v
self.assertTrue(np.array_equal(expected_v, actual_v))
self.assertEqual(expected_theta, actual_theta)
def test_from_v_theta(self):
x, y, z = np.eye(3)
q = Quaternion.from_v_theta(x, np.pi / 2)
expected = [np.cos(np.pi / 4), np.sin(np.pi / 4), 0, 0]
self.assertEqual(q, Quaternion(expected))