def test_subtract_quaternions(self):
q1 = Quaternion(3.0, 1.0, -1.0, 0.0)
q2 = Quaternion(2.0, 1.0, -1.0, 0.0)
expected = Quaternion()
assert expected == (q1 - q2)
def _axis(pose, length=2):
"""Axis primitive"""
q = Quaternion(pose[3], pose[4], pose[5], pose[6])
bild = ".color cornflower blue" + os.linesep
bild += _sphere(pose, 0.3) + os.linesep
bild += ".color 1 0 0" + os.linesep
c = [length, 0, 0]
end = q.rotate(c)
bild += ".arrow %f %f %f %f %f %f%s" % (pose[0], pose[1], pose[2],
pose[0] + end[0], pose[1] + end[1],
pose[2] + end[2], os.linesep)
bild += ".color 1 1 0" + os.linesep
c = [0, length, 0]
end = q.rotate(c)
bild += ".arrow %f %f %f %f %f %f%s" % (pose[0], pose[1], pose[2],
pose[0] + end[0], pose[1] + end[1],
pose[2] + end[2], os.linesep)
bild += ".color 0 0 1" + os.linesep
c = [0, 0, length]
end = q.rotate(c)
bild += ".arrow %f %f %f %f %f %f%s" % (pose[0], pose[1], pose[2],
pose[0] + end[0], pose[1] + end[1],
pose[2] + end[2], os.linesep)
return bild
def test_slerp_same_quaternion(self):
q1 = Quaternion(0.707106781, 0.0, 0.0, 0.707106781)
q2 = Quaternion(0.707106781, 0.0, 0.0, 0.707106781)
s = q1.slerp(q2, 0.1)
assert s == q2
def test_lerp_t_1(self):
q1 = Quaternion(1, 0, 0, 2)
q2 = Quaternion(3, -1, 4, 3)
s = q1.lerp(q2, 1.0)
assert s == q2
def setUp(self):
self.path = os.path.dirname(os.path.realpath(__file__))
self.test_path = self.path + '/scratch/'
try:
shutil.rmtree(self.test_path)
except:
pass
os.mkdir(self.test_path)
self.golden_data_path = os.path.normpath(
os.path.dirname(os.path.realpath(__file__))) + '/golden_data/'
self.quaternions = [
Quaternion(-0.122207449, -0.084565307, 0.804585130, 0.574940708),
Quaternion(0.334565328, 0.706772732, 0.229644422, -0.579484069),
Quaternion(-0.122207350, 0.541338054, 0.601216794, -0.574940729),
Quaternion(-0.239073775, 0.739073825, -0.329056839, -0.536968536),
Quaternion(-0.189936901, -0.272159950, -0.302264234, 0.893582267)
]
self.translations = [
[-15.734048025344688, -16.449850861746139, 0.64470115806562056],
[-28.314891508567385, 12.036561774174739, 10.178799979062202],
[-13.844755498611772, -12.788839194052038, 23.000473566520469],
[21.7408596820244, -3.0846843852631736, 22.997219312770568],
[0.089556216428448465, -0.67458762985527621, -21.185751778087777]
]
def test_slerp_same_quaternion(self):
q1 = Quaternion(0.707106781, 0.0, 0.0, 0.707106781)
q2 = Quaternion(0.707106781, 0.0, 0.0, 0.707106781)
s = q1.slerp(q2, 0.1)
assert s == q2
def test_inverse(self):
q1 = Quaternion(1, 0, 0, 2)
q2 = Quaternion(3, -1, 4, 3)
expected = Quaternion(-3.0 / 175, 9.0 / 175, -2.0 / 175, -9.0 / 175)
assert expected == (q1 * q2).inverse()
def test_lerp_t_1(self):
q1 = Quaternion(1, 0, 0, 2)
q2 = Quaternion(3, -1, 4, 3)
s = q1.lerp(q2, 1.0)
assert s == q2
def test_add_quaternions(self):
q1 = Quaternion(1.0, 1.0, -1.0, 2.0)
q2 = Quaternion(1.0, 1.0, 3.0, 0.0)
expected = Quaternion(2.0, 2.0, 2.0, 2.0)
assert expected == (q1 + q2)
def __init__(self,
id_swarm=0,
id_glowworm=0,
receptor_id=0,
ligand_id=0,
luciferin=0.0,
num_neighbors=0,
vision_range=0.0,
pose=None,
rmsd=-1.0,
pdb_file='',
contacts=0,
scoring=0.0):
self.id_swarm = id_swarm
self.id_glowworm = id_glowworm
self.receptor_id = receptor_id
self.ligand_id = ligand_id
self.luciferin = luciferin
self.num_neighbors = num_neighbors
self.vision_range = vision_range
self.pose = pose
self.translation = np.array(pose[:3])
self.rotation = Quaternion(pose[3], pose[4], pose[5],
pose[6]).normalize()
self.coord = DockingResult.pose_repr(pose)
self.rmsd = rmsd
self.pdb_file = pdb_file
self.contacts = contacts
self.scoring = scoring
def test_slerp_t_1(self):
q1 = Quaternion(1, 0, 0, 2)
q2 = Quaternion(3, -1, 4, 3)
expected = Quaternion(0.50709255, -0.16903085, 0.67612340, 0.50709255)
s = q1.slerp(q2, 1.0)
assert expected == s
def test_slerp_t_0(self):
q1 = Quaternion(1, 0, 0, 2)
q2 = Quaternion(3, -1, 4, 3)
expected = Quaternion(0.44721360, 0.000000, 0.000000, 0.89442719)
s = q1.slerp(q2, 0.0)
assert expected == s
def test_slerp_t_1(self):
q1 = Quaternion(1, 0, 0, 2)
q2 = Quaternion(3, -1, 4, 3)
expected = Quaternion(0.50709255, -0.16903085, 0.67612340, 0.50709255)
s = q1.slerp(q2, 1.0)
assert expected == s
def test_slerp_t_0(self):
q1 = Quaternion(1, 0, 0, 2)
q2 = Quaternion(3, -1, 4, 3)
expected = Quaternion(0.44721360, 0.000000, 0.000000, 0.89442719)
s = q1.slerp(q2, 0.0)
assert expected == s
def test_conjugate_and_multiplication(self):
q1 = Quaternion(1, 0, 0, 2)
q2 = Quaternion(3, -1, 4, 3)
expected = Quaternion(35, 0, 0, 0)
assert (q1*q2).conjugate() == q2.conjugate() * q1.conjugate()
assert expected == q2.conjugate()*q2
def test_quaternion_from_vectors4(self):
a = np.array([1., 0., 0.])
b = np.array([-1., 0., 0.])
q = quaternion_from_vectors(a, b)
# Orthogonal rotation, two possibilities:
e1 = Quaternion(w=0., x=0., y=1.0, z=0.)
e2 = Quaternion(w=0., x=0., y=-1.0, z=0.)
assert e1 == q or e2 == q
def test_rotation(self):
q = Quaternion(0.707106781, 0.0, 0.707106781, 0.0)
v = [1.0, 0.0, 0.0]
v2 = q.rotate(v)
assert_almost_equals(0.0, v2[0])
assert_almost_equals(0.0, v2[1])
assert_almost_equals(-1.0, v2[2])
def test_get_random(self):
q1 = Quaternion.random()
assert_almost_equals(1.0, q1.norm())
rng = MTGenerator(1379)
q2 = Quaternion.random(rng)
expected = Quaternion(0.53224081, -0.00589472, 0.84280352, 0.07979471)
assert expected == q2
def test_slerp_t_half_y(self):
q1 = Quaternion(1, 0, 0, 0)
q2 = Quaternion(0, 0, 1, 0)
s = q1.slerp(q2, 0.5)
expected = Quaternion(0.707106781, 0.0, 0.707106781, 0.0)
assert expected == s
def test_rotation(self):
q = Quaternion(0.707106781, 0.0, 0.707106781, 0.0)
v = [1.0, 0.0, 0.0]
v2 = q.rotate(v)
assert_almost_equals(0.0, v2[0])
assert_almost_equals(0.0, v2[1])
assert_almost_equals(-1.0, v2[2])
def test_conjugate(self):
q1 = Quaternion(1, 3, 4, 3)
q2 = Quaternion(1, -1, -1, 3)
expected1 = Quaternion(1, -3, -4, -3)
expected2 = Quaternion(1, 1, 1, -3)
assert expected1 == q1.conjugate()
assert expected2 == q2.conjugate()
def test_get_random(self):
q1 = Quaternion.random()
assert_almost_equals(1.0, q1.norm())
rng = MTGenerator(1379)
q2 = Quaternion.random(rng)
expected = Quaternion(0.53224081, -0.00589472, 0.84280352, 0.07979471)
assert expected == q2
def test_slerp_t_half_bank_zero(self):
q1 = Quaternion(0.707106781, 0.0, 0.0, 0.707106781)
q2 = Quaternion(0.0, 0.707106781, 0.707106781, 0.0)
s = q1.slerp(q2, 0.5)
expected = Quaternion(0.5, 0.5, 0.5, 0.5)
assert expected == s
def test_slerp_t_half_bank_zero(self):
q1 = Quaternion(0.707106781, 0.0, 0.0, 0.707106781)
q2 = Quaternion(0.0, 0.707106781, 0.707106781, 0.0)
s = q1.slerp(q2, 0.5)
expected = Quaternion(0.5, 0.5, 0.5, 0.5)
assert expected == s
def test_slerp_t_half_y(self):
q1 = Quaternion(1, 0, 0, 0)
q2 = Quaternion(0, 0, 1, 0)
s = q1.slerp(q2, 0.5)
expected = Quaternion(0.707106781, 0.0, 0.707106781, 0.0)
assert expected == s
def update_landscape_position(self, optimized_vector):
"""Updates the current pose"""
self.translation = optimized_vector[:3]
self.rotation = Quaternion(optimized_vector[3], optimized_vector[4],
optimized_vector[5], optimized_vector[6])
self.rec_extent = optimized_vector[
7:7 +
self.num_rec_nmodes] if self.num_rec_nmodes > 0 else np.array([])
self.lig_extent = optimized_vector[
-self.num_lig_nmodes:] if self.num_lig_nmodes > 0 else np.array([])
def test_conjugate_and_multiplication(self):
q1 = Quaternion(1, 0, 0, 2)
q2 = Quaternion(3, -1, 4, 3)
expected = Quaternion(35, 0, 0, 0)
assert (q1 * q2).conjugate() == q2.conjugate() * q1.conjugate()
assert expected == q2.conjugate() * q2
def test_quaternion_from_vectors4(self):
a = np.array([1., 0., 0.])
b = np.array([-1., 0., 0.])
q = quaternion_from_vectors(a, b)
# Orthogonal rotation
e = Quaternion(w=0., x=0.00000000, y=-1.0, z=0.)
assert e == q
def test_quaternion_from_vectors3(self):
a = np.array([1., 0., 0.])
b = np.array([0., 2., 0.])
q = quaternion_from_vectors(a, b)
# 90 degrees in Z axis
e = Quaternion(w=0.70710678, x=0.00000000, y=0.00000000, z=0.70710678)
assert e == q
def test_get_quaternion_for_restraint2d_different_quadrant(self):
# Origin is 0,0,0
# Ligand center
l_center = [5., -5., 0.]
# Ligand residue
l_res = [7., -7., 0.]
# Receptor residue
r_res = [-3., 1., 0.]
# Calculate quaternion for rotation from l_res to point to r_res
rec_residue = Residue.dummy(r_res[0], r_res[1], r_res[2])
lig_residue = Residue.dummy(l_res[0], l_res[1], l_res[2])
q = get_quaternion_for_restraint(
rec_residue,
lig_residue,
l_center[0],
l_center[1],
l_center[2], # translation
[0., 0., 0.], # receptor translation
[5., -5., 0.] # ligand translation
)
e = Quaternion(0.07088902, 0., 0., -0.99748421)
assert e == q
def test_get_quaternion_for_restraint2d(self):
# Origin is 0,0,0
# Ligand center
l_center = [5., 5., 0.]
# Ligand residue
l_res = [7., 7., 0.]
# Receptor residue
r_res = [3., 1., 0.]
# Calculate quaternion for rotation from l_res to point to r_res
rec_residue = Residue.dummy(r_res[0], r_res[1], r_res[2])
lig_residue = Residue.dummy(l_res[0], l_res[1], l_res[2])
q = get_quaternion_for_restraint(
rec_residue,
lig_residue,
l_center[0],
l_center[1],
l_center[2], # translation
[0., 0., 0.], # receptor translation
[5., 5., 0.] # ligand translation
)
e = Quaternion(0.16018224, 0., 0., -0.98708746)
assert e == q
def test_get_quaternion_for_restraint2(self):
# Origin is 0,0,0
# Ligand center
l_center = [-5., 5., -5.]
# Ligand residue
l_res = [-7., 6., -7.]
# Receptor residue
r_res = [3., 1., 0.]
# Calculate quaternion for rotation from l_res to point to r_res
rec_residue = Residue.dummy(r_res[0], r_res[1], r_res[2])
lig_residue = Residue.dummy(l_res[0], l_res[1], l_res[2])
q = get_quaternion_for_restraint(
rec_residue,
lig_residue,
l_center[0],
l_center[1],
l_center[2], # translation
[0., 0., 0.], # receptor translation
[5., -5., 5.] # ligand translation
)
e = Quaternion(0.10977233, -0.44451098, -0.88902195, 0.)
assert e == q
def parse_output_file(lightdock_output):
"""Parses a lightdock output file to get relevant simulation information for each glowworm"""
translations = []
rotations = []
receptor_ids = []
ligand_ids = []
rec_extents = []
lig_extents = []
data_file = open(lightdock_output)
lines = data_file.readlines()
data_file.close()
counter = 0
for line in lines:
if line[0] == '(':
counter += 1
last = line.index(')')
coord = line[1:last].split(',')
translations.append([float(coord[0]),float(coord[1]),float(coord[2])])
rotations.append(Quaternion(float(coord[3]),float(coord[4]),float(coord[5]),float(coord[6])))
if len(coord) == (7 + DEFAULT_NMODES_REC + DEFAULT_NMODES_LIG):
rec_extents.append(np.array([float(x) for x in coord[7:7+DEFAULT_NMODES_REC]]))
lig_extents.append(np.array([float(x) for x in coord[-DEFAULT_NMODES_LIG:]]))
raw_data = line[last+1:].split()
receptor_id = int(raw_data[0])
ligand_id = int(raw_data[1])
receptor_ids.append(receptor_id)
ligand_ids.append(ligand_id)
log.info("Read %s coordinate lines" % counter)
return translations, rotations, receptor_ids, ligand_ids, rec_extents, lig_extents
def parse_output_file(lightdock_output):
translations = []
rotations = []
luciferin = []
neighbors = []
vision_range = []
scoring = []
data_file = open(lightdock_output)
lines = [line.rstrip(os.linesep) for line in data_file.readlines()]
data_file.close()
counter = 0
for line in lines:
if line[0] == '(':
counter += 1
last = line.index(')')
coord = line[1:last].split(',')
translations.append(
[float(coord[0]),
float(coord[1]),
float(coord[2])])
rotations.append(
Quaternion(float(coord[3]), float(coord[4]), float(coord[5]),
float(coord[6])))
values = line[last + 1:].split()
luciferin.append(float(values[0]))
neighbors.append(int(values[1]))
vision_range.append(float(values[2]))
scoring.append(float(values[3]))
log.info("Read %s coordinate lines" % counter)
return translations, rotations, luciferin, neighbors, vision_range, scoring
def test_get_quaternion_for_restraint1(self):
# Origin is 0,0,0
# Ligand center
l_center = [-5., 5., -5.]
# Ligand residue
l_res = [-7., 7., -7.]
# Receptor residue
r_res = [3., 1., 0.]
# Calculate quaternion for rotation from l_res to point to r_res
rec_residue = Residue.dummy(r_res[0], r_res[1], r_res[2])
lig_residue = Residue.dummy(l_res[0], l_res[1], l_res[2])
q = get_quaternion_for_restraint(
rec_residue,
lig_residue,
l_center[0],
l_center[1],
l_center[2], # translation
[0., 0., 0.], # receptor translation
[5., -5., 5.] # ligand translation
)
e = Quaternion(w=0.14518697,
x=0.19403814,
y=-0.58211441,
z=-0.77615254)
assert e == q
def parse_output_file(lightdock_output, glowworm_id, num_anm_rec, num_anm_lig):
"""Parses a LightDock simulation output file and returns only data for given glowworm_id"""
with open(lightdock_output) as data_file:
lines = data_file.readlines()
num_glowworms = 0
for line in lines:
line = line.rstrip(os.linesep)
if line.startswith('('):
if num_glowworms == glowworm_id:
last = line.index(')')
coord = line[1:last].split(',')
translation = [
float(coord[0]),
float(coord[1]),
float(coord[2])
]
rotation = Quaternion(float(coord[3]), float(coord[4]),
float(coord[5]), float(coord[6]))
rec_extent = None
lig_extent = None
if len(coord) > 7:
rec_extent = np.array(
[float(x) for x in coord[7:7 + num_anm_rec]])
lig_extent = np.array(
[float(x) for x in coord[-num_anm_lig:]])
return translation, rotation, rec_extent, lig_extent
num_glowworms += 1
return None
def parse_output_file(lightdock_output, num_anm_rec, num_anm_lig):
translations = []
rotations = []
receptor_ids = []
ligand_ids = []
rec_extents = []
lig_extents = []
data_file = open(lightdock_output)
lines = data_file.readlines()
data_file.close()
counter = 0
for line in lines:
if line[0] == '(':
counter += 1
last = line.index(')')
coord = line[1:last].split(',')
translations.append([float(coord[0]), float(coord[1]), float(coord[2])])
rotations.append(Quaternion(float(coord[3]), float(coord[4]), float(coord[5]), float(coord[6])))
if len(coord) > 7:
rec_extents.append(np.array([float(x) for x in coord[7:7+num_anm_rec]]))
lig_extents.append(np.array([float(x) for x in coord[-num_anm_lig:]]))
raw_data = line[last+1:].split()
receptor_id = int(raw_data[0])
ligand_id = int(raw_data[1])
receptor_ids.append(receptor_id)
ligand_ids.append(ligand_id)
log.info("Read %s coordinate lines" % counter)
return translations, rotations, receptor_ids, ligand_ids, rec_extents, lig_extents
def test_move_step_rot_half_step_trans_half(self):
atoms, residues, chains = parse_complex_from_file(
self.golden_data_path + '1PPElig.pdb')
ligand = Complex(chains, atoms)
adapter = MJ3hAdapter(self.receptor, ligand)
scoring_function = MJ3h()
coordinates1 = Coordinates([0., 0., 0., 1., 0., 0., 0.])
landscape_position1 = DockingLandscapePosition(scoring_function,
coordinates1,
adapter.receptor_model,
adapter.ligand_model,
step_translation=5.0,
step_rotation=0.5)
adapter2 = MJ3hAdapter(self.receptor, ligand)
coordinates2 = Coordinates([10., 0., 0., 0., 0., 1., 0.])
landscape_position2 = DockingLandscapePosition(scoring_function,
coordinates2,
adapter2.receptor_model,
adapter2.ligand_model)
landscape_position1.move(landscape_position2)
expected_translation = np.array([5., 0., 0.])
expected_rotation = Quaternion(0.707106781, 0.0, 0.707106781, 0.0)
assert (expected_translation == landscape_position1.translation).all()
assert expected_rotation == landscape_position1.rotation
def parse_file(file_name, glowworm_id):
"""Parses a given GSO step output file. Returns the translation, the quaternion
and the normal modes (if any)
"""
try:
lines = open(file_name).readlines()[1:]
except IOError:
return None
for line_id, line in enumerate(lines):
if line_id == glowworm_id:
if line[0] == '(':
coord = line[1:].split(')')[0].split(',')
translation = [
float(coord[0]),
float(coord[1]),
float(coord[2])
]
q = Quaternion(float(coord[3]), float(coord[4]),
float(coord[5]), float(coord[6]))
nm_rec = None
nm_lig = None
if len(coord) > 7:
nm_rec = np.array(
[float(x) for x in coord[7:7 + DEFAULT_NMODES_REC]])
nm_lig = np.array(
[float(x) for x in coord[7:7 + DEFAULT_NMODES_LIG]])
return translation, q, nm_rec, nm_lig
return None
def test_conjugate(self):
q1 = Quaternion(1, 3, 4, 3)
q2 = Quaternion(1, -1, -1, 3)
expected1 = Quaternion(1, -3, -4, -3)
expected2 = Quaternion(1, 1, 1, -3)
assert expected1 == q1.conjugate()
assert expected2 == q2.conjugate()
def _axis(pose, length=2):
"""Axis primitive"""
q = Quaternion(pose[3], pose[4], pose[5], pose[6])
bild = ".color cornflower blue" + os.linesep
bild += _sphere(pose, 0.3) + os.linesep
bild += ".color 1 0 0" + os.linesep
c = [length, 0, 0]
end = q.rotate(c)
bild += ".arrow %f %f %f %f %f %f%s" % (pose[0], pose[1], pose[2], pose[0] + end[0], pose[1] + end[1], pose[2] + end[2], os.linesep)
bild += ".color 1 1 0" + os.linesep
c = [0, length, 0]
end = q.rotate(c)
bild += ".arrow %f %f %f %f %f %f%s" % (pose[0], pose[1], pose[2], pose[0] + end[0], pose[1] + end[1], pose[2] + end[2], os.linesep)
bild += ".color 0 0 1" + os.linesep
c = [0, 0, length]
end = q.rotate(c)
bild += ".arrow %f %f %f %f %f %f%s" % (pose[0], pose[1], pose[2], pose[0] + end[0], pose[1] + end[1], pose[2] + end[2], os.linesep)
return bild
class DockingResult(object):
"""Represents a LightDock docking result line"""
def __init__(self, id_cluster=0, id_glowworm=0, receptor_id=0, ligand_id=0, luciferin=0.0,
num_neighbors=0, vision_range=0.0, pose=None, rmsd=-1.0,
pdb_file='', contacts=0, scoring=0.0):
self.id_cluster = id_cluster
self.id_glowworm = id_glowworm
self.receptor_id = receptor_id
self.ligand_id = ligand_id
self.luciferin = luciferin
self.num_neighbors = num_neighbors
self.vision_range = vision_range
self.pose = pose
self.translation = np.array(pose[:3])
self.rotation = Quaternion(pose[3], pose[4], pose[5], pose[6]).normalize()
self.coord = DockingResult.pose_repr(pose)
self.rmsd = rmsd
self.pdb_file = pdb_file
self.contacts = contacts
self.scoring = scoring
def __str__(self):
return "%5d %6d %60s %6d %6d %11.5f %5d %7.3f %8.3f %16s %6d %8.3f" % (self.id_cluster,
self.id_glowworm,
self.coord,
self.receptor_id,
self.ligand_id,
self.luciferin,
self.num_neighbors,
self.vision_range,
self.rmsd,
self.pdb_file,
self.contacts,
self.scoring)
def distance_trans(self, other):
return np.linalg.norm(self.translation - other.translation)
def distance_rot(self, other):
return self.rotation.distance(other.rotation)
@staticmethod
def pose_repr(coord):
fields = [("%5.3f" % c) for c in coord]
return "(%s)" % (', '.join(fields))
def __init__(self, id_cluster=0, id_glowworm=0, receptor_id=0, ligand_id=0, luciferin=0.0,
num_neighbors=0, vision_range=0.0, pose=None, rmsd=-1.0,
pdb_file='', contacts=0, scoring=0.0):
self.id_cluster = id_cluster
self.id_glowworm = id_glowworm
self.receptor_id = receptor_id
self.ligand_id = ligand_id
self.luciferin = luciferin
self.num_neighbors = num_neighbors
self.vision_range = vision_range
self.pose = pose
self.translation = np.array(pose[:3])
self.rotation = Quaternion(pose[3], pose[4], pose[5], pose[6]).normalize()
self.coord = DockingResult.pose_repr(pose)
self.rmsd = rmsd
self.pdb_file = pdb_file
self.contacts = contacts
self.scoring = scoring
def test_copy_quaternions(self):
q1 = Quaternion(1.0, 2.0, -1.0, 3.0)
q2 = q1.clone()
assert q1 == q2
q2.w = 3.0
assert q1 != q2
def test_distance_composite_rotation(self):
q1 = Quaternion(1.0, 0, 0, 0)
q2 = Quaternion(0.5, 0.5, 0.5, 0.5)
assert_almost_equals(0.75, q1.distance(q2))
def test_distance_is_half(self):
q1 = Quaternion(0.707106781, 0.0, 0.707106781, 0.0)
q2 = Quaternion(0, 0, 1.0, 0)
assert_almost_equals(0.5, q1.distance(q2))
def test_distance_is_one(self):
q1 = Quaternion(0.707106781, 0.0, 0.707106781, 0.0)
q2 = Quaternion(0.707106781, 0.0, -0.707106781, 0.0)
assert_almost_equals(1.0, q1.distance(q2))
def test_distance_is_zero(self):
q = Quaternion(0.707106781, 0.0, 0.707106781, 0.0)
assert_almost_equals(0.0, q.distance(q))
def test_norm(self):
q1 = Quaternion(1, -3, 4, 3)
q2 = Quaternion(3, -1, 4, 3)
assert_almost_equals(5.91607978, q1.norm())
assert_almost_equals((q1*q2).norm(), q1.norm()*q2.norm())
def test_dot_product(self):
q = Quaternion(0.707106781, 0.0, 0.707106781, 0.0)
assert_almost_equals(1., q.dot(q))
