Python quaternion_from_two_vectors Examples

Example #1

File: test_quaternions.py Project: paulboone/functionaliseMOF

def test_quaternion_from_two_vectors__with_perpendicular_xy_axes_rotates_90_degrees_around_z_axis(
):
    q = quaternion_from_two_vectors((1., 0., 0.), (0., 1., 0.))
    assert np.isclose(q.as_quat(), [0., 0., 2**0.5 / 2, 2**0.5 / 2.],
                      atol=1e-5).all()
    assert np.isclose(q.apply([1., 1., 1.]), [-1., 1., 1.]).all()
    assert np.isclose(q.apply([-1., 1., 1.]), [-1., -1., 1.]).all()
    assert np.isclose(q.apply([-1., -1., 1.]), [1., -1., 1.]).all()
    assert np.isclose(q.apply([1., -1., 1.]), [1., 1., 1.]).all()

Example #2

File: test_quaternions.py Project: paulboone/functionaliseMOF

def test_quaternion_from_two_axes__with_antiparallel_z_axes_inverts_z_coord():
    q = quaternion_from_two_vectors((0., 0., 2.), (0., 0., -2.))
    assert q.apply([1., 1., 1.])[2] == approx(-1., 1e-5)

Example #3

File: test_quaternions.py Project: paulboone/functionaliseMOF

def test_quaternion_from_two_vectors__with_parallel_axes_is_donothing_0001():
    q = quaternion_from_two_vectors((0., 0., 2.), (0., 0., 2.))
    assert np.isclose(q.as_quat(), [0., 0., 0., 1.]).all()
    assert (q.apply([1., 1., 1.]) == [1., 1., 1.]).all()

Example #4

File: test_quaternions.py Project: paulboone/functionaliseMOF

def test_quaternion_from_two_vectors__with_almost_parallel_axes_is_almost_donothing_0001(
):
    q = quaternion_from_two_vectors((0., 0., 1.), (0., 0.00001, 0.99999))
    assert np.isclose(q.as_quat(), [0., 0., 0., 1.], atol=1e-5).all()
    assert np.isclose(q.apply([1., 1., 1.]), [1., 1., 1.]).all()

Example #5

File: test_quaternions.py Project: paulboone/functionaliseMOF

def test_quaternion_from_two_vectors__with_almost_antiparallel_z_axes_mostly_inverts_yz_coords(
):
    q = quaternion_from_two_vectors((0., 0., 1.), (0., 0.00001, -0.99999))
    assert np.isclose(q.as_quat(), [-1., 0., 0., 0.], atol=1e-5).all()
    assert np.isclose(q.apply([1., 1., 1.]), [1., -1., -1.]).all()