def test_quaternion2euler(qtbot):
"""Test quaternion to euler angle conversion."""
# Test roundtrip degrees
angles = (12, 53, 92)
q = Quaternion.create_from_euler_angles(*angles, degrees=True)
ea = quaternion2euler(q, degrees=True)
np.testing.assert_allclose(ea, angles)
# Test roundtrip radians
angles = (0.1, -0.2, 1.2)
q = Quaternion.create_from_euler_angles(*angles)
ea = quaternion2euler(q)
np.testing.assert_allclose(ea, angles)
def test_quaternion2euler(angles, degrees):
"""Test quaternion to euler angle conversion."""
# Test for degrees
q = Quaternion.create_from_euler_angles(*angles, degrees)
ea = quaternion2euler(q, degrees=degrees)
q_p = Quaternion.create_from_euler_angles(*ea, degrees=degrees)
# We now compare the corresponding quaternions ; they should be equals or opposites (as they're already unit ones)
q_values = np.array([q.w, q.x, q.y, q.z])
q_p_values = np.array([q_p.w, q_p.x, q_p.y, q_p.z])
nn_zero_ind = np.argmax((q_values != 0) & (q_p_values != 0))
q_values *= np.sign(q_values[nn_zero_ind])
q_p_values *= np.sign(q_p_values[nn_zero_ind])
np.testing.assert_allclose(q_values, q_p_values)
