def test_from_ypr(self):
y = 1.2
p = 0.3
r = -1.0
# XXX
rot = Rotation.from_ypr(y, p, r)
ry, rp, rr = rot.yaw_pitch_roll()
nose.tools.assert_almost_equal(y, ry, 14)
nose.tools.assert_almost_equal(p, rp, 14)
nose.tools.assert_almost_equal(r, rr, 14)
# 0XX
rot = Rotation.from_ypr(0, p, r)
ry, rp, rr = rot.yaw_pitch_roll()
nose.tools.assert_almost_equal(0, ry, 14)
nose.tools.assert_almost_equal(p, rp, 14)
nose.tools.assert_almost_equal(r, rr, 14)
# X0X
rot = Rotation.from_ypr(y, 0, r)
ry, rp, rr = rot.yaw_pitch_roll()
nose.tools.assert_almost_equal(y, ry, 14)
nose.tools.assert_almost_equal(0, rp, 14)
nose.tools.assert_almost_equal(r, rr, 14)
# XX0
rot = Rotation.from_ypr(y, p, 0)
ry, rp, rr = rot.yaw_pitch_roll()
nose.tools.assert_almost_equal(y, ry, 14)
nose.tools.assert_almost_equal(p, rp, 14)
nose.tools.assert_almost_equal(0, rr, 14)
# 00X
rot = Rotation.from_ypr(0, 0, r)
ry, rp, rr = rot.yaw_pitch_roll()
nose.tools.assert_almost_equal(0, ry, 14)
nose.tools.assert_almost_equal(0, rp, 14)
nose.tools.assert_almost_equal(r, rr, 14)
# 0X0
rot = Rotation.from_ypr(0, p, 0)
ry, rp, rr = rot.yaw_pitch_roll()
nose.tools.assert_almost_equal(0, ry, 14)
nose.tools.assert_almost_equal(p, rp, 14)
nose.tools.assert_almost_equal(0, rr, 14)
# X00
rot = Rotation.from_ypr(y, 0, 0)
ry, rp, rr = rot.yaw_pitch_roll()
nose.tools.assert_almost_equal(y, ry, 14)
nose.tools.assert_almost_equal(0, rp, 14)
nose.tools.assert_almost_equal(0, rr, 14)
# 000
rot = Rotation.from_ypr(0, 0, 0)
ry, rp, rr = rot.yaw_pitch_roll()
nose.tools.assert_almost_equal(0, ry, 14)
nose.tools.assert_almost_equal(0, rp, 14)
nose.tools.assert_almost_equal(0, rr, 14)
def test_from_ypr(self):
y = 1.2
p = 0.3
r = -1.0
# XXX
rot = Rotation.from_ypr(y, p, r)
ry, rp, rr = rot.yaw_pitch_roll()
nose.tools.assert_almost_equal(y, ry, 14)
nose.tools.assert_almost_equal(p, rp, 14)
nose.tools.assert_almost_equal(r, rr, 14)
# 0XX
rot = Rotation.from_ypr(0, p, r)
ry, rp, rr = rot.yaw_pitch_roll()
nose.tools.assert_almost_equal(0, ry, 14)
nose.tools.assert_almost_equal(p, rp, 14)
nose.tools.assert_almost_equal(r, rr, 14)
# X0X
rot = Rotation.from_ypr(y, 0, r)
ry, rp, rr = rot.yaw_pitch_roll()
nose.tools.assert_almost_equal(y, ry, 14)
nose.tools.assert_almost_equal(0, rp, 14)
nose.tools.assert_almost_equal(r, rr, 14)
# XX0
rot = Rotation.from_ypr(y, p, 0)
ry, rp, rr = rot.yaw_pitch_roll()
nose.tools.assert_almost_equal(y, ry, 14)
nose.tools.assert_almost_equal(p, rp, 14)
nose.tools.assert_almost_equal(0, rr, 14)
# 00X
rot = Rotation.from_ypr(0, 0, r)
ry, rp, rr = rot.yaw_pitch_roll()
nose.tools.assert_almost_equal(0, ry, 14)
nose.tools.assert_almost_equal(0, rp, 14)
nose.tools.assert_almost_equal(r, rr, 14)
# 0X0
rot = Rotation.from_ypr(0, p, 0)
ry, rp, rr = rot.yaw_pitch_roll()
nose.tools.assert_almost_equal(0, ry, 14)
nose.tools.assert_almost_equal(p, rp, 14)
nose.tools.assert_almost_equal(0, rr, 14)
# X00
rot = Rotation.from_ypr(y, 0, 0)
ry, rp, rr = rot.yaw_pitch_roll()
nose.tools.assert_almost_equal(y, ry, 14)
nose.tools.assert_almost_equal(0, rp, 14)
nose.tools.assert_almost_equal(0, rr, 14)
# 000
rot = Rotation.from_ypr(0, 0, 0)
ry, rp, rr = rot.yaw_pitch_roll()
nose.tools.assert_almost_equal(0, ry, 14)
nose.tools.assert_almost_equal(0, rp, 14)
nose.tools.assert_almost_equal(0, rr, 14)
