def test_linear_trajectory(self):
R_a = RigidTransform.random_rotation()
t_a = RigidTransform.random_translation()
R_b = RigidTransform.random_rotation()
t_b = RigidTransform.random_translation()
T_a = RigidTransform(R_a, t_a, "w", "a")
T_b = RigidTransform(R_b, t_b, "w", "b")
for i in range(10):
traj = T_a.linear_trajectory_to(T_b, i)
self.assertEqual(len(traj), i, "Trajectory has incorrect length")
