def test_normalisation(self): # normalise to unit quaternion
r = randomElements()
q1 = Quaternion(*r)
v = q1.unit()
n = q1.normalised()
if q1 == Quaternion(0): # small chance with random generation
return # a 0 quaternion does not normalise
# Test normalised objects are unit quaternions
np.testing.assert_almost_equal(v.q, q1.elements() / q1.norm(), decimal=ALMOST_EQUAL_TOLERANCE)
np.testing.assert_almost_equal(n.q, q1.elements() / q1.norm(), decimal=ALMOST_EQUAL_TOLERANCE)
self.assertAlmostEqual(v.norm(), 1.0, ALMOST_EQUAL_TOLERANCE)
self.assertAlmostEqual(n.norm(), 1.0, ALMOST_EQUAL_TOLERANCE)
# Test axis and angle remain the same
np.testing.assert_almost_equal(q1.axis(), v.axis(), decimal=ALMOST_EQUAL_TOLERANCE)
np.testing.assert_almost_equal(q1.axis(), n.axis(), decimal=ALMOST_EQUAL_TOLERANCE)
self.assertAlmostEqual(q1.angle(), v.angle(), ALMOST_EQUAL_TOLERANCE)
self.assertAlmostEqual(q1.angle(), n.angle(), ALMOST_EQUAL_TOLERANCE)
# Test special case where q is zero
q2 = Quaternion(0)
self.assertEqual(q2, q2.normalised())
def test_output_of_elements(self):
r = randomElements()
q = Quaternion(*r)
self.assertEqual(tuple(q.elements()), r)