def test_vector_rotation(): """Test basic rotation matrix math.""" x = np.array([1., 0., 0.]) y = np.array([0., 1., 0.]) rot = _find_vector_rotation(x, y) assert_array_equal(rot, [[0, -1, 0], [1, 0, 0], [0, 0, 1]]) quat_1 = rot_to_quat(rot) quat_2 = rot_to_quat(np.eye(3)) assert_allclose(_angle_between_quats(quat_1, quat_2), np.pi / 2.)
def test_vector_rotation(): """Test basic rotation matrix math.""" x = np.array([1., 0., 0.]) y = np.array([0., 1., 0.]) rot = _find_vector_rotation(x, y) assert_array_equal(rot, [[0, -1, 0], [1, 0, 0], [0, 0, 1]]) quat_1 = rot_to_quat(rot) quat_2 = rot_to_quat(np.eye(3)) assert_allclose(_angle_between_quats(quat_1, quat_2), np.pi / 2.)