def test_angle_axis2quat(): q = nq.angle_axis2quat(0, [1, 0, 0]) yield assert_array_equal, q, [1, 0, 0, 0] q = nq.angle_axis2quat(np.pi, [1, 0, 0]) yield assert_array_almost_equal, q, [0, 1, 0, 0] q = nq.angle_axis2quat(np.pi, [1, 0, 0], True) yield assert_array_almost_equal, q, [0, 1, 0, 0] q = nq.angle_axis2quat(np.pi, [2, 0, 0], False) yield assert_array_almost_equal, q, [0, 1, 0, 0]
def test_angle_axis(): for M, q in eg_pairs: theta, vec = nq.quat2angle_axis(q) q2 = nq.angle_axis2quat(theta, vec) yield nq.nearly_equivalent, q, q2 aa_mat = nq.angle_axis2mat(theta, vec) yield assert_array_almost_equal, aa_mat, M