forked from ethz-asl/trajectory_toolkit
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Tests.py
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Tests.py
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import unittest
from TimedData import TimedData
import numpy as np
import Quaternion
from cmath import sqrt
class TestTimedData(unittest.TestCase):
def test_QuaternionClass(self):
v1 = np.array([0.2, 0.2, 0.4])
v2 = np.array([1, 0, 0])
q1 = Quaternion.q_exp(v1)
q2 = Quaternion.q_exp(v2)
v=np.array([1, 2, 3])
# Testing Mult and rotate
np.testing.assert_almost_equal(Quaternion.q_rotate(Quaternion.q_mult(q1,q2),v), Quaternion.q_rotate(q1,Quaternion.q_rotate(q2,v)), decimal=7)
np.testing.assert_almost_equal(Quaternion.q_rotate(q1,v2), np.resize(Quaternion.q_toRotMat(q1),(3,3)).dot(v2), decimal=7)
# Testing Boxplus, Boxminus, Log and Exp
np.testing.assert_almost_equal(Quaternion.q_boxPlus(q1,Quaternion.q_boxMinus(q2,q1)), q2, decimal=7)
np.testing.assert_almost_equal(Quaternion.q_log(q1), v1, decimal=7)
# Testing Lmat and Rmat
np.testing.assert_almost_equal(Quaternion.q_mult(q1,q2), Quaternion.q_Lmat(q1).dot(q2), decimal=7)
np.testing.assert_almost_equal(Quaternion.q_mult(q1,q2), Quaternion.q_Rmat(q2).dot(q1), decimal=7)
# Testing ypr and quat
roll = 0.2
pitch = -0.5
yaw = 2.5
q_test = Quaternion.q_mult(np.array([np.cos(0.5*pitch), 0, np.sin(0.5*pitch), 0]),np.array([np.cos(0.5*yaw), 0, 0, np.sin(0.5*yaw)]))
q_test = Quaternion.q_mult(np.array([np.cos(0.5*roll), np.sin(0.5*roll), 0, 0]),q_test)
np.testing.assert_almost_equal(Quaternion.q_toYpr(q_test), np.array([roll, pitch, yaw]), decimal=7)
# Testing Jacobian of Ypr
for i in np.arange(0,3):
dv1 = np.array([0.0, 0.0, 0.0])
dv1[i] = 1.0
epsilon = 1e-6
ypr1 = Quaternion.q_toYpr(q1)
ypr1_dist = Quaternion.q_toYpr(Quaternion.q_boxPlus(q1,dv1*epsilon))
dypr1_1 = (ypr1_dist-ypr1)/epsilon
J = np.resize(Quaternion.q_toYprJac(q1),(3,3))
dypr1_2 = J.dot(dv1)
np.testing.assert_almost_equal(dypr1_1,dypr1_2, decimal=5)
def test_TimedDataClass(self):
print('TODO')
if __name__ == '__main__':
unittest.main()