def test_default_seq(self):
quat = dcs.quat_from_euler(self.a)
temp = dcs.quat_mult(
dcs.quat_mult(dcs.qrot(3, self.a[0]), dcs.qrot(1, self.a[1])),
dcs.qrot(2, self.a[2]))
np.testing.assert_array_almost_equal(quat, temp)
self.assertEqual(quat.ndim, 1)
def setUp(self):
self.quat1 = np.array([0.5, 0.5, 0.5, 0.5])
self.dq1 = dcs.qrot(1, 0.001)
self.dq2 = dcs.qrot(2, 0.05)
self.dqq1 = dcs.quat_mult(self.dq1, self.quat1)
self.dqq2 = dcs.quat_mult(self.dq2, self.quat1)
self.theta = np.array([0.001, 0.05])
self.comp = np.array([[0.001, 0], [0, 0.05], [0, 0]])
self.null = np.array([])
self.null_quat = np.zeros((4, 0))
def setUp(self):
self.quat1 = np.array([0.5, 0.5, 0.5, 0.5])
self.dq1 = dcs.qrot(1, 0.001)
self.dq2 = dcs.qrot(2, 0.05)
self.dqq1 = dcs.quat_mult(self.dq1, self.quat1)
self.dqq2 = dcs.quat_mult(self.dq2, self.quat1)
self.theta = np.array([0.001, 0.05])
self.comp = np.array([[0.001, 0], [0, 0.05], [0, 0]])
self.null = np.array([])
self.null_quat = np.zeros((4, 0))
def test_array_scalar3(self):
quat = dcs.quat_mult(self.q6, np.column_stack((self.q6, self.q6)))
self.assertEqual(quat.ndim, 2)
np.testing.assert_array_almost_equal(
quat,
np.column_stack((dcs.quat_inv(self.q6), dcs.quat_inv(self.q6))))
np.testing.assert_array_equal(quat.shape, (4, 2))
def test_nominal2(self):
quat = dcs.quat_mult(self.q2, self.q3)
self.assertEqual(quat.ndim, 1)
np.testing.assert_array_almost_equal(quat, self.q5)
np.testing.assert_array_equal(quat.shape, self.q5.shape)
def test_nominal1(self):
quat = dcs.quat_mult(self.q1, self.q2)
self.assertEqual(quat.ndim, 1)
np.testing.assert_array_almost_equal(quat, self.q4)
np.testing.assert_array_equal(quat.shape, self.q4.shape)
def test_long(self):
quat1 = dcs.quat_from_euler(np.hstack((self.a, self.b)),
seq=np.hstack((self.seq, self.seq)))
quat2 = dcs.quat_mult(self.quat[:, 0], self.quat[:, 1])
np.testing.assert_array_almost_equal(quat1, quat2)
self.assertEqual(quat1.ndim, 1)
def test_short(self):
quat1 = dcs.quat_from_euler(self.a[0:2], self.seq[0:2])
quat2 = dcs.quat_mult(dcs.qrot(self.seq[0], self.a[0]),
dcs.qrot(self.seq[1], self.a[1]))
np.testing.assert_array_almost_equal(quat1, quat2)
self.assertEqual(quat1.ndim, 1)
def test_nominal1(self):
quat = dcs.quat_mult(self.q1, self.q2)
self.assertEqual(quat.ndim, 1)
np.testing.assert_array_almost_equal(quat, self.q4)
np.testing.assert_array_equal(quat.shape, self.q4.shape)
def test_array(self):
quat = dcs.quat_mult(self.q_array_in1, self.q_array_in2)
self.assertEqual(quat.ndim, 2)
np.testing.assert_array_almost_equal(quat, self.q_array_out)
np.testing.assert_array_equal(quat.shape, self.q_array_out.shape)
def test_array_scalar2(self):
quat = dcs.quat_mult(self.q1, self.q_array_in2)
self.assertEqual(quat.ndim, 2)
np.testing.assert_array_almost_equal(quat[:, 0], self.q4)
np.testing.assert_array_equal(quat.shape, self.q_array_out.shape)
def test_array(self):
quat = dcs.quat_mult(self.q_array_in1, self.q_array_in2)
self.assertEqual(quat.ndim, 2)
np.testing.assert_array_almost_equal(quat, self.q_array_out)
np.testing.assert_array_equal(quat.shape, self.q_array_out.shape)
def test_array_scalar3(self):
quat = dcs.quat_mult(self.q6, np.column_stack((self.q6, self.q6)))
self.assertEqual(quat.ndim, 2)
np.testing.assert_array_almost_equal(quat, np.column_stack((dcs.quat_inv(self.q6), dcs.quat_inv(self.q6))))
np.testing.assert_array_equal(quat.shape, (4, 2))
def test_array_scalar2(self):
quat = dcs.quat_mult(self.q1, self.q_array_in2)
self.assertEqual(quat.ndim, 2)
np.testing.assert_array_almost_equal(quat[:,0], self.q4)
np.testing.assert_array_equal(quat.shape, self.q_array_out.shape)
def test_reverse(self):
quat1 = dcs.quat_mult(self.q2, self.q1)
quat2 = dcs.quat_inv(dcs.quat_mult(dcs.quat_inv(self.q1), dcs.quat_inv(self.q2)))
np.testing.assert_array_almost_equal(quat1, quat2)
def test_nominal3(self):
quat = dcs.quat_mult(self.q6, self.q6)
self.assertEqual(quat.ndim, 1)
np.testing.assert_array_almost_equal(quat, dcs.quat_inv(self.q6))
np.testing.assert_array_equal(quat.shape, self.q6.shape)
def test_nominal2(self):
quat = dcs.quat_mult(self.q2, self.q3)
self.assertEqual(quat.ndim, 1)
np.testing.assert_array_almost_equal(quat, self.q5)
np.testing.assert_array_equal(quat.shape, self.q5.shape)
def test_nominal3(self):
quat = dcs.quat_mult(self.q6, self.q6)
self.assertEqual(quat.ndim, 1)
np.testing.assert_array_almost_equal(quat, dcs.quat_inv(self.q6))
np.testing.assert_array_equal(quat.shape, self.q6.shape)
def test_reverse(self):
quat1 = dcs.quat_mult(self.q2, self.q1)
quat2 = dcs.quat_inv(
dcs.quat_mult(dcs.quat_inv(self.q1), dcs.quat_inv(self.q2)))
np.testing.assert_array_almost_equal(quat1, quat2)
def test_null_input8(self):
quat = dcs.quat_mult(self.null, self.null_quat)
np.testing.assert_array_equal(quat, self.null)
np.testing.assert_array_equal(quat.shape, self.null.shape)
def test_default_seq(self):
quat = dcs.quat_from_euler(self.a)
temp = dcs.quat_mult(dcs.quat_mult(dcs.qrot(3, self.a[0]), dcs.qrot(1, self.a[1])), dcs.qrot(2, self.a[2]))
np.testing.assert_array_almost_equal(quat, temp)
self.assertEqual(quat.ndim, 1)
def test_short(self):
quat1 = dcs.quat_from_euler(self.a[0:2], self.seq[0:2])
quat2 = dcs.quat_mult(dcs.qrot(self.seq[0], self.a[0]), dcs.qrot(self.seq[1], self.a[1]))
np.testing.assert_array_almost_equal(quat1, quat2)
self.assertEqual(quat1.ndim, 1)
def test_null_input8(self):
quat = dcs.quat_mult(self.null, self.null_quat)
np.testing.assert_array_equal(quat, self.null)
np.testing.assert_array_equal(quat.shape, self.null.shape)
def test_long(self):
quat1 = dcs.quat_from_euler(np.hstack((self.a, self.b)), seq=np.hstack((self.seq, self.seq)))
quat2 = dcs.quat_mult(self.quat[:,0], self.quat[:,1])
np.testing.assert_array_almost_equal(quat1, quat2)
self.assertEqual(quat1.ndim, 1)