def test_slerp_single_time():
rot = TimeDependentRotation([[0, 0, 0, 1]], [0],
1,
2,
av=[[np.pi / 2, 0, 0]])
new_rot, new_avs = rot._slerp([-1, 3])
expected_quats = [[-1 / np.sqrt(2), 0, 0, 1 / np.sqrt(2)],
[1 / np.sqrt(2), 0, 0, -1 / np.sqrt(2)]]
expected_av = [[np.pi / 2, 0, 0], [np.pi / 2, 0, 0]]
np.testing.assert_almost_equal(new_rot.as_quat(), expected_quats)
np.testing.assert_equal(new_avs, expected_av)
def test_slerp():
test_quats = Rotation.from_euler('x',
np.array([-135, -90, 0, 45, 90]),
degrees=True).as_quat()
rot = TimeDependentRotation(test_quats, [-0.5, 0, 1, 1.5, 2], 1, 2)
new_rots, new_avs = rot._slerp(np.arange(-3, 5))
expected_rot = Rotation.from_euler(
'x', [-360, -270, -180, -90, 0, 90, 180, 270], degrees=True)
np.testing.assert_almost_equal(new_rots.as_quat(), expected_rot.as_quat())
np.testing.assert_almost_equal(np.degrees(new_avs),
np.repeat([[90, 0, 0]], 8, 0))
def test_slerp_variable_velocity():
test_quats = Rotation.from_euler(
'xyz', [[0, 0, 0], [-90, 0, 0], [-90, 180, 0], [-90, 180, 90]],
degrees=True).as_quat()
rot = TimeDependentRotation(test_quats, [0, 1, 2, 3], 1, 2)
new_rots, new_avs = rot._slerp([-0.5, 0.5, 1.5, 2.5, 3.5])
expected_rot = Rotation.from_euler('xyz',
[[45, 0, 0], [-45, 0, 0], [-90, 90, 0],
[-90, 180, 45], [-90, 180, 135]],
degrees=True)
np.testing.assert_almost_equal(new_rots.as_quat(), expected_rot.as_quat())
np.testing.assert_almost_equal(
np.degrees(new_avs),
[[-90, 0, 0], [-90, 0, 0], [0, 180, 0], [0, 0, 90], [0, 0, 90]])
def test_slerp_constant_rotation():
rot = TimeDependentRotation([[0, 0, 0, 1]], [0], 1, 2)
new_rot, new_avs = rot._slerp([-1, 3])
np.testing.assert_equal(new_rot.as_quat(), [[0, 0, 0, 1], [0, 0, 0, 1]])
np.testing.assert_equal(new_avs, [[0, 0, 0], [0, 0, 0]])