def test_sheppards_method_same_result():
for i in range(
30
): # this is a quick and poor way to check that sheppard's method works for all 4 cases
dcm = ut.random_dcm()
b1 = tr.dcm_to_quaternions(dcm)
b2 = tr.sheppards_method(dcm)
np.testing.assert_almost_equal(b1, b2)
def test_mrp_valid_dcm():
dcm1 = ut.random_dcm()
b = tr.dcm_to_mrp(dcm1)
dcm2 = tr.mrp_to_dcm(b)
np.testing.assert_almost_equal(dcm2 @ dcm2.T, np.identity(3))
np.testing.assert_almost_equal(np.linalg.det(dcm2), 1)
for i in (0, 1, 2):
np.testing.assert_almost_equal(np.linalg.norm(dcm2[i]), 1)
np.testing.assert_almost_equal(np.linalg.norm(dcm2[:, i]), 1)
def test_pvr_valid_dcm():
dcm1 = ut.random_dcm()
angle, e = tr.dcm_to_prv(dcm1)
dcm2 = tr.prv_to_dcm(angle, e)
np.testing.assert_almost_equal(dcm2 @ dcm2.T, np.identity(3))
np.testing.assert_almost_equal(np.linalg.det(dcm2), 1)
for i in (0, 1, 2):
np.testing.assert_almost_equal(np.linalg.norm(dcm2[i]), 1)
np.testing.assert_almost_equal(np.linalg.norm(dcm2[:, i]), 1)
def test_mrp_reverse():
dcm1 = ut.random_dcm()
b = tr.dcm_to_mrp(dcm1)
dcm2 = tr.mrp_to_dcm(b)
np.testing.assert_almost_equal(dcm1, dcm2)
def test_random_dcm_1():
dcm = ut.random_dcm()
np.testing.assert_almost_equal(dcm @ dcm.T, np.identity(3))
def test_quaternions_reverse():
dcm1 = ut.random_dcm()
b = tr.dcm_to_quaternions(dcm1)
dcm2 = tr.quaternions_to_dcm(b)
np.testing.assert_almost_equal(dcm1, dcm2)
def test_pvr_reverse():
dcm1 = ut.random_dcm()
angle, e = tr.dcm_to_prv(dcm1)
dcm2 = tr.prv_to_dcm(angle, e)
np.testing.assert_almost_equal(dcm1, dcm2)
def test_random_dcm_3():
dcm = ut.random_dcm()
for i in (0, 1, 2):
np.testing.assert_almost_equal(np.linalg.norm(dcm[i]), 1)
np.testing.assert_almost_equal(np.linalg.norm(dcm[:, i]), 1)
def test_random_dcm_2():
dcm = ut.random_dcm()
np.testing.assert_almost_equal(np.linalg.det(dcm), 1)