def test_Rodrigues(self, set_of_rotations, normalize, P):
c = np.array([P * -1, P * -1, P * -1, 1.])
for rot in set_of_rotations:
m = rot.as_matrix()
o = Rotation.from_Rodrigues(rot.as_Rodrigues() * c, normalize,
P).as_matrix()
ok = np.allclose(m, o, atol=atol)
assert ok and np.isclose(np.linalg.det(o), 1.0), f'{m},{o}'
def test_Rodrigues(self, default, normalise, P):
c = np.array([P * -1, P * -1, P * -1, 1.])
for rot in default:
m = rot.as_matrix()
o = Rotation.from_Rodrigues(rot.as_Rodrigues() * c, normalise,
P).as_matrix()
ok = np.allclose(m, o, atol=atol)
print(m, o)
assert ok and np.isclose(np.linalg.det(o), 1.0)
