def test_to_quaternion(self):
rot_d = Rotation('d')
numpy.testing.assert_array_equal(rot_d.quaternion(),
[0, 0, 0, 1])
rot_f = Rotation('f')
numpy.testing.assert_array_equal(rot_f.quaternion(),
[0, 0, 0, 1])
def test_to_quaternion(self):
rot_d = Rotation(ctypes.c_double)
numpy.testing.assert_array_equal(rot_d.quaternion(),
[[0], [0], [0], [1]])
rot_f = Rotation(ctypes.c_float)
numpy.testing.assert_array_equal(rot_f.quaternion(),
[[0], [0], [0], [1]])
def test_to_quaternion(self):
rot_d = Rotation(ctypes.c_double)
numpy.testing.assert_array_equal(rot_d.quaternion(),
[[0],
[0],
[0],
[1]])
rot_f = Rotation(ctypes.c_float)
numpy.testing.assert_array_equal(rot_f.quaternion(),
[[0],
[0],
[0],
[1]])
def _new(self, s, r, t):
"""
:type s: float
:type r: Rotation | None
:type t: collections.Iterable[float] | None
"""
# noinspection PyProtectedMember
if r is None:
r = Rotation(self._ctype)
elif r._ctype != self._ctype:
# Create new Rotation sharing our type
r = Rotation.from_quaternion(r.quaternion(), self._ctype)
if t is None:
t = EigenArray.from_iterable((0, 0, 0), self._ctype)
else:
t = EigenArray.from_iterable(t, self._ctype, (3, 1))
return self._call_cfunc('vital_similarity_%s_new' % self._tchar, [
self._ctype,
Rotation.c_ptr_type(self._ctype),
EigenArray.c_ptr_type(3, 1, self._ctype)
], [s, r, t], self.C_TYPE_PTR)
def test_to_quaternion(self):
rot_d = Rotation('d')
numpy.testing.assert_array_equal(rot_d.quaternion(), [0, 0, 0, 1])
rot_f = Rotation('f')
numpy.testing.assert_array_equal(rot_f.quaternion(), [0, 0, 0, 1])
