def test_quaternion_from_vectors3(self):
a = np.array([1., 0., 0.])
b = np.array([0., 2., 0.])
q = quaternion_from_vectors(a, b)
# 90 degrees in Z axis
e = Quaternion(w=0.70710678, x=0.00000000, y=0.00000000, z=0.70710678)
assert e == q
def test_quaternion_from_vectors4(self):
a = np.array([1., 0., 0.])
b = np.array([-1., 0., 0.])
q = quaternion_from_vectors(a, b)
# Orthogonal rotation
e = Quaternion(w=0., x=0.00000000, y=-1.0, z=0.)
assert e == q
def test_quaternion_from_vectors4(self):
a = np.array([1., 0., 0.])
b = np.array([-1., 0., 0.])
q = quaternion_from_vectors(a, b)
# Orthogonal rotation
e = Quaternion(w=0., x=0.00000000, y=-1.0, z=0.)
assert e == q
def test_quaternion_from_vectors3(self):
a = np.array([1., 0., 0.])
b = np.array([0., 2., 0.])
q = quaternion_from_vectors(a, b)
# 90 degrees in Z axis
e = Quaternion(w=0.70710678, x=0.00000000, y=0.00000000, z=0.70710678)
assert e == q
def test_quaternion_from_vectors4(self):
a = np.array([1., 0., 0.])
b = np.array([-1., 0., 0.])
q = quaternion_from_vectors(a, b)
# Orthogonal rotation, two possibilities:
e1 = Quaternion(w=0., x=0., y=1.0, z=0.)
e2 = Quaternion(w=0., x=0., y=-1.0, z=0.)
assert e1 == q or e2 == q
def test_quaternion_from_vectors2(self):
a = np.array([1., 0., 0.])
b = np.array([2., 0., 0.])
q = quaternion_from_vectors(a, b)
e = Quaternion()
assert e == q
def test_quaternion_from_vectors2(self):
a = np.array([1., 0., 0.])
b = np.array([2., 0., 0.])
q = quaternion_from_vectors(a, b)
e = Quaternion()
assert e == q