def test_omega2rates_units(self):
"""
Test conversion of pqr to Euler angle rates.
Ensure both inputs as radians and degrees work.
Data Source: Example generated using book GNSS Applications and Methods
Chapter 7 library function: omega2rates.m
"""
pitch_deg, roll_deg = 30, -3
pitch_rad, roll_rad = np.radians(pitch_deg), np.radians(roll_deg)
# Test default case of radians
## Under the default roll_pitch_yaw order
R_expected = np.array([
[1, -0.0302162, 0.5765590],
[0, 0.9986295, 0.0523360],
[0, -0.0604324, 1.1531181]])
R_computed = navpy.omega2rates(pitch_rad, roll_rad)
np.testing.assert_almost_equal(R_expected, R_computed)
## ... and when input is in degrees.
R_computed = navpy.omega2rates(pitch_deg, roll_deg, input_unit='deg')
np.testing.assert_almost_equal(R_expected, R_computed)
## ... and when order is yaw_pitch_roll
R_expected = np.array([R_expected[2,:],
R_expected[1,:],
R_expected[0,:]])
R_computed = navpy.omega2rates(pitch_rad, roll_rad, euler_angles_order='yaw_pitch_roll')
np.testing.assert_almost_equal(R_expected, R_computed)
def test_omega2rates_units(self):
"""
Test conversion of pqr to Euler angle rates.
Ensure both inputs as radians and degrees work.
Data Source: Example generated using book GNSS Applications and Methods
Chapter 7 library function: omega2rates.m
"""
pitch_deg, roll_deg = 30, -3
pitch_rad, roll_rad = np.radians(pitch_deg), np.radians(roll_deg)
# Test default case of radians
## Under the default roll_pitch_yaw order
R_expected = np.array([[1, -0.0302162, 0.5765590],
[0, 0.9986295, 0.0523360],
[0, -0.0604324, 1.1531181]])
R_computed = navpy.omega2rates(pitch_rad, roll_rad)
np.testing.assert_almost_equal(R_expected, R_computed)
## ... and when input is in degrees.
R_computed = navpy.omega2rates(pitch_deg, roll_deg, input_unit='deg')
np.testing.assert_almost_equal(R_expected, R_computed)
## ... and when order is yaw_pitch_roll
R_expected = np.array(
[R_expected[2, :], R_expected[1, :], R_expected[0, :]])
R_computed = navpy.omega2rates(pitch_rad,
roll_rad,
euler_angles_order='yaw_pitch_roll')
np.testing.assert_almost_equal(R_expected, R_computed)
def test_omega2rates_singularities(self):
"""
Test conversion of pqr to Euler angle rates.
Ensure NaN returned and (user warned) when operating near singularities.
"""
pitch_rad, roll_rad = np.radians(89), np.radians(-3)
# Test near, but not at, singularity
## Under the default roll_pitch_yaw order
R_expected = np.array([[1, -2.9983249, 57.2114477],
[0, 0.9986295, 0.0523360],
[0, -2.9987817, 57.2201626]])
R_computed = navpy.omega2rates(pitch_rad, roll_rad)
np.testing.assert_almost_equal(R_expected, R_computed)
# Test singlarity and ensure NaN returned
pitch_rad, roll_rad = np.radians(89.6), np.radians(-3)
# Test near, but not at, singularity
R_computed = navpy.omega2rates(pitch_rad, roll_rad)
self.assertTrue(R_computed is np.nan)
def test_omega2rates_singularities(self):
"""
Test conversion of pqr to Euler angle rates.
Ensure NaN returned and (user warned) when operating near singularities.
"""
pitch_rad, roll_rad = np.radians(89), np.radians(-3)
# Test near, but not at, singularity
## Under the default roll_pitch_yaw order
R_expected = np.array([
[1, -2.9983249, 57.2114477],
[0, 0.9986295, 0.0523360],
[0, -2.9987817, 57.2201626]])
R_computed = navpy.omega2rates(pitch_rad, roll_rad)
np.testing.assert_almost_equal(R_expected, R_computed)
# Test singlarity and ensure NaN returned
pitch_rad, roll_rad = np.radians(89.6), np.radians(-3)
# Test near, but not at, singularity
R_computed = navpy.omega2rates(pitch_rad, roll_rad)
self.assertTrue(R_computed is np.nan)
def test_omega2rates_trivial(self):
"""
Test conversion of pqr to Euler angle rates.
Trivial case: pitch and roll are zero
Data Source: Example generated using book GNSS Applications and Methods
Chapter 7 library function: omega2rates.m
"""
# Test trivial case where pitch and roll are zero
## Under the default roll_pitch_yaw order
R_expected = np.array([[1, 0, 0], [0, 1, 0], [0, 0, 1]])
R_computed = navpy.omega2rates(0, 0)
self.assertTrue((R_expected == R_computed).all())
## ... and when order is yaw_pitch_roll
R_expected = np.array([[0, 0, 1], [0, 1, 0], [1, 0, 0]])
R_computed = navpy.omega2rates(0,
0,
euler_angles_order='yaw_pitch_roll')
self.assertTrue((R_expected == R_computed).all())
def test_omega2rates_trivial(self):
"""
Test conversion of pqr to Euler angle rates.
Trivial case: pitch and roll are zero
Data Source: Example generated using book GNSS Applications and Methods
Chapter 7 library function: omega2rates.m
"""
# Test trivial case where pitch and roll are zero
## Under the default roll_pitch_yaw order
R_expected = np.array([
[1,0,0],
[0,1,0],
[0,0,1]])
R_computed = navpy.omega2rates(0, 0)
self.assertTrue((R_expected == R_computed).all())
## ... and when order is yaw_pitch_roll
R_expected = np.array([
[0,0,1],
[0,1,0],
[1,0,0]])
R_computed = navpy.omega2rates(0, 0, euler_angles_order='yaw_pitch_roll')
self.assertTrue((R_expected == R_computed).all())
