def test_quaternion(self, T):
# Simple API.
Quaternion = mut.Quaternion_[T]
cast = np.vectorize(T)
q_identity = Quaternion()
self.assertEqual(numpy_compare.resolve_type(q_identity.wxyz()), T)
numpy_compare.assert_float_equal(q_identity.wxyz(), [1., 0, 0, 0])
numpy_compare.assert_float_equal(
copy.copy(q_identity).wxyz(), [1., 0, 0, 0])
numpy_compare.assert_equal(q_identity.wxyz(),
Quaternion.Identity().wxyz())
if T == float:
self.assertEqual(str(q_identity),
"Quaternion_[float](w=1.0, x=0.0, y=0.0, z=0.0)")
self.check_cast(mut.Quaternion_, T)
# Test ordering.
q_wxyz = normalize([0.1, 0.3, 0.7, 0.9])
q = Quaternion(w=q_wxyz[0], x=q_wxyz[1], y=q_wxyz[2], z=q_wxyz[3])
# - Accessors.
numpy_compare.assert_float_equal(q.w(), q_wxyz[0])
numpy_compare.assert_float_equal(q.x(), q_wxyz[1])
numpy_compare.assert_float_equal(q.y(), q_wxyz[2])
numpy_compare.assert_float_equal(q.z(), q_wxyz[3])
numpy_compare.assert_float_equal(q.xyz(), q_wxyz[1:])
numpy_compare.assert_float_equal(q.wxyz(), q_wxyz)
# - Mutators.
q_wxyz_new = q_wxyz[::-1]
numpy_compare.assert_not_equal(q_wxyz, q_wxyz_new)
q.set_wxyz(wxyz=q_wxyz_new)
numpy_compare.assert_float_equal(q.wxyz(), q_wxyz_new)
q.set_wxyz(w=q_wxyz_new[0],
x=q_wxyz_new[1],
y=q_wxyz_new[2],
z=q_wxyz_new[3])
numpy_compare.assert_float_equal(q.wxyz(), q_wxyz_new)
# Alternative constructors.
q_other = Quaternion(wxyz=q_wxyz)
numpy_compare.assert_float_equal(q_other.wxyz(), q_wxyz)
R = np.array([[0., 0, 1], [1, 0, 0], [0, 1, 0]])
q_wxyz_expected = np.array([0.5, 0.5, 0.5, 0.5])
q_other = Quaternion(q_wxyz_expected)
numpy_compare.assert_float_equal(q_other.rotation(), R)
R_I = np.eye(3, 3)
q_other.set_rotation(R_I)
numpy_compare.assert_equal(q_other.wxyz(), q_identity.wxyz())
# - Copy constructor.
cp = Quaternion(other=q)
numpy_compare.assert_equal(q.wxyz(), cp.wxyz())
# Bad values.
if T != Expression:
q = Quaternion.Identity()
# - wxyz
q_wxyz_bad = [1., 2, 3, 4]
with self.assertRaises(RuntimeError):
q.set_wxyz(q_wxyz_bad)
numpy_compare.assert_float_equal(q.wxyz(), [1., 0, 0, 0])
# - Rotation.
R_bad = np.copy(R)
R_bad[0, 0] = 10
with self.assertRaises(RuntimeError):
q_other.set_rotation(R_bad)
numpy_compare.assert_float_equal(q_other.rotation(), R_I)
# Operations.
q_AB = Quaternion(wxyz=[0.5, 0.5, 0.5, 0.5])
q_I = q_AB.inverse().multiply(q_AB)
numpy_compare.assert_float_equal(q_I.wxyz(), [1., 0, 0, 0])
if six.PY3:
numpy_compare.assert_float_equal(
eval("q_AB.inverse() @ q_AB").wxyz(), [1., 0, 0, 0])
v_B = np.array([1., 2, 3])
v_A = np.array([3., 1, 2])
numpy_compare.assert_float_allclose(q_AB.multiply(vector=v_B), v_A)
vlist_B = np.array([v_B, v_B]).T
vlist_A = np.array([v_A, v_A]).T
numpy_compare.assert_float_equal(q_AB.multiply(vector=vlist_B),
vlist_A)
# Test deprecation.
with catch_drake_warnings(expected_count=2):
self.assertEqual(q_AB.multiply(position=v_B).shape, v_B.shape)
self.assertEqual(
q_AB.multiply(position=vlist_B).shape, vlist_B.shape)
with catch_drake_warnings(expected_count=0):
# No deprecation should happen with position arguments.
self.assertEqual(q_AB.multiply(v_B).shape, v_B.shape)
self.assertEqual(q_AB.multiply(vlist_B).shape, vlist_B.shape)
q_AB_conj = q_AB.conjugate()
numpy_compare.assert_float_equal(q_AB_conj.wxyz(),
[0.5, -0.5, -0.5, -0.5])
# Test `type_caster`s.
if T == float:
value = test_util.create_quaternion()
self.assertTrue(isinstance(value, mut.Quaternion))
test_util.check_quaternion(value)
def test_quaternion(self):
# Simple API.
q_identity = mut.Quaternion()
self.assertTrue(np.allclose(q_identity.wxyz(), [1, 0, 0, 0]))
self.assertTrue(np.allclose(
q_identity.wxyz(), mut.Quaternion.Identity().wxyz()))
self.assertEqual(
str(q_identity), "Quaternion(w=1.0, x=0.0, y=0.0, z=0.0)")
# Test ordering.
q_wxyz = normalize([0.1, 0.3, 0.7, 0.9])
q = mut.Quaternion(w=q_wxyz[0], x=q_wxyz[1], y=q_wxyz[2], z=q_wxyz[3])
# - Accessors.
self.assertEqual(q.w(), q_wxyz[0])
self.assertEqual(q.x(), q_wxyz[1])
self.assertEqual(q.y(), q_wxyz[2])
self.assertEqual(q.z(), q_wxyz[3])
self.assertTrue(np.allclose(q.xyz(), q_wxyz[1:]))
self.assertTrue(np.allclose(q.wxyz(), q_wxyz))
# - Mutators.
q_wxyz_new = q_wxyz[::-1]
self.assertFalse(np.allclose(q_wxyz, q_wxyz_new))
q.set_wxyz(wxyz=q_wxyz_new)
self.assertTrue(np.allclose(q.wxyz(), q_wxyz_new))
q.set_wxyz(
w=q_wxyz_new[0], x=q_wxyz_new[1], y=q_wxyz_new[2], z=q_wxyz_new[3])
self.assertTrue(np.allclose(q.wxyz(), q_wxyz_new))
# Alternative constructors.
q_other = mut.Quaternion(wxyz=q_wxyz)
self.assertTrue(np.allclose(q_other.wxyz(), q_wxyz))
R = np.array([
[0, 0, 1],
[1, 0, 0],
[0, 1, 0]])
q_wxyz_expected = np.array([0.5, 0.5, 0.5, 0.5])
q_other = mut.Quaternion(q_wxyz_expected)
self.assertTrue(np.allclose(q_other.rotation(), R))
R_I = np.eye(3, 3)
q_other.set_rotation(R_I)
self.assertTrue(np.allclose(q_other.wxyz(), q_identity.wxyz()))
# - Copy constructor.
cp = mut.Quaternion(other=q)
self.assertTrue(np.allclose(q.wxyz(), cp.wxyz()))
# Bad values.
q = mut.Quaternion.Identity()
# - wxyz
q_wxyz_bad = [1., 2, 3, 4]
with self.assertRaises(RuntimeError):
q.set_wxyz(q_wxyz_bad)
self.assertTrue(np.allclose(q.wxyz(), [1, 0, 0, 0]))
# - Rotation.
R_bad = np.copy(R)
R_bad[0, 0] = 10
with self.assertRaises(RuntimeError):
q_other.set_rotation(R_bad)
self.assertTrue(np.allclose(q_other.rotation(), R_I))
# Operations.
q = mut.Quaternion(wxyz=[0.5, 0.5, 0.5, 0.5])
self.assertTrue(
(q.multiply(position=[1, 2, 3]) == [3, 1, 2]).all())
q_I = q.inverse().multiply(q)
self.assertTrue(np.allclose(q_I.wxyz(), [1, 0, 0, 0]))
if six.PY3:
self.assertTrue(np.allclose(
eval("q.inverse() @ q").wxyz(), [1, 0, 0, 0]))
q_conj = q.conjugate()
self.assertTrue(np.allclose(q_conj.wxyz(), [0.5, -0.5, -0.5, -0.5]))
# Test `type_caster`s.
value = test_util.create_quaternion()
self.assertTrue(isinstance(value, mut.Quaternion))
test_util.check_quaternion(value)
def test_quaternion(self):
# Simple API.
q_identity = mut.Quaternion()
self.assertTrue(np.allclose(q_identity.wxyz(), [1, 0, 0, 0]))
self.assertTrue(
np.allclose(q_identity.wxyz(),
mut.Quaternion.Identity().wxyz()))
self.assertEqual(str(q_identity),
"Quaternion(w=1.0, x=0.0, y=0.0, z=0.0)")
# Test ordering.
q_wxyz = normalize([0.1, 0.3, 0.7, 0.9])
q = mut.Quaternion(w=q_wxyz[0], x=q_wxyz[1], y=q_wxyz[2], z=q_wxyz[3])
# - Accessors.
self.assertEqual(q.w(), q_wxyz[0])
self.assertEqual(q.x(), q_wxyz[1])
self.assertEqual(q.y(), q_wxyz[2])
self.assertEqual(q.z(), q_wxyz[3])
self.assertTrue(np.allclose(q.xyz(), q_wxyz[1:]))
self.assertTrue(np.allclose(q.wxyz(), q_wxyz))
# - Mutators.
q_wxyz_new = q_wxyz[::-1]
self.assertFalse(np.allclose(q_wxyz, q_wxyz_new))
q.set_wxyz(wxyz=q_wxyz_new)
self.assertTrue(np.allclose(q.wxyz(), q_wxyz_new))
q.set_wxyz(w=q_wxyz_new[0],
x=q_wxyz_new[1],
y=q_wxyz_new[2],
z=q_wxyz_new[3])
self.assertTrue(np.allclose(q.wxyz(), q_wxyz_new))
# Alternative constructors.
q_other = mut.Quaternion(wxyz=q_wxyz)
self.assertTrue(np.allclose(q_other.wxyz(), q_wxyz))
R = np.array([[0, 0, 1], [1, 0, 0], [0, 1, 0]])
q_wxyz_expected = np.array([0.5, 0.5, 0.5, 0.5])
q_other = mut.Quaternion(q_wxyz_expected)
self.assertTrue(np.allclose(q_other.rotation(), R))
R_I = np.eye(3, 3)
q_other.set_rotation(R_I)
self.assertTrue(np.allclose(q_other.wxyz(), q_identity.wxyz()))
# - Copy constructor.
cp = mut.Quaternion(other=q)
self.assertTrue(np.allclose(q.wxyz(), cp.wxyz()))
# Bad values.
q = mut.Quaternion.Identity()
# - wxyz
q_wxyz_bad = [1., 2, 3, 4]
with self.assertRaises(RuntimeError):
q.set_wxyz(q_wxyz_bad)
self.assertTrue(np.allclose(q.wxyz(), [1, 0, 0, 0]))
# - Rotation.
R_bad = np.copy(R)
R_bad[0, 0] = 10
with self.assertRaises(RuntimeError):
q_other.set_rotation(R_bad)
self.assertTrue(np.allclose(q_other.rotation(), R_I))
# Operations.
q = mut.Quaternion(wxyz=[0.5, 0.5, 0.5, 0.5])
self.assertTrue((q.multiply(position=[1, 2, 3]) == [3, 1, 2]).all())
q_I = q.inverse().multiply(q)
self.assertTrue(np.allclose(q_I.wxyz(), [1, 0, 0, 0]))
q_conj = q.conjugate()
self.assertTrue(np.allclose(q_conj.wxyz(), [0.5, -0.5, -0.5, -0.5]))
# Test `type_caster`s.
value = test_util.create_quaternion()
self.assertTrue(isinstance(value, mut.Quaternion))
test_util.check_quaternion(value)
def test_quaternion(self, T):
# Simple API.
Quaternion = mut.Quaternion_[T]
cast = np.vectorize(T)
q_identity = Quaternion()
self.assertEqual(numpy_compare.resolve_type(q_identity.wxyz()), T)
numpy_compare.assert_float_equal(q_identity.wxyz(), [1., 0, 0, 0])
numpy_compare.assert_float_equal(
copy.copy(q_identity).wxyz(), [1., 0, 0, 0])
numpy_compare.assert_equal(q_identity.wxyz(),
Quaternion.Identity().wxyz())
if T == float:
self.assertEqual(str(q_identity),
"Quaternion_[float](w=1.0, x=0.0, y=0.0, z=0.0)")
# Test ordering.
q_wxyz = normalize([0.1, 0.3, 0.7, 0.9])
q = Quaternion(w=q_wxyz[0], x=q_wxyz[1], y=q_wxyz[2], z=q_wxyz[3])
# - Accessors.
numpy_compare.assert_float_equal(q.w(), q_wxyz[0])
numpy_compare.assert_float_equal(q.x(), q_wxyz[1])
numpy_compare.assert_float_equal(q.y(), q_wxyz[2])
numpy_compare.assert_float_equal(q.z(), q_wxyz[3])
numpy_compare.assert_float_equal(q.xyz(), q_wxyz[1:])
numpy_compare.assert_float_equal(q.wxyz(), q_wxyz)
# - Mutators.
q_wxyz_new = q_wxyz[::-1]
numpy_compare.assert_not_equal(q_wxyz, q_wxyz_new)
q.set_wxyz(wxyz=q_wxyz_new)
numpy_compare.assert_float_equal(q.wxyz(), q_wxyz_new)
q.set_wxyz(w=q_wxyz_new[0],
x=q_wxyz_new[1],
y=q_wxyz_new[2],
z=q_wxyz_new[3])
numpy_compare.assert_float_equal(q.wxyz(), q_wxyz_new)
# Alternative constructors.
q_other = Quaternion(wxyz=q_wxyz)
numpy_compare.assert_float_equal(q_other.wxyz(), q_wxyz)
R = np.array([[0., 0, 1], [1, 0, 0], [0, 1, 0]])
q_wxyz_expected = np.array([0.5, 0.5, 0.5, 0.5])
q_other = Quaternion(q_wxyz_expected)
numpy_compare.assert_float_equal(q_other.rotation(), R)
R_I = np.eye(3, 3)
q_other.set_rotation(R_I)
numpy_compare.assert_equal(q_other.wxyz(), q_identity.wxyz())
# - Copy constructor.
cp = Quaternion(other=q)
numpy_compare.assert_equal(q.wxyz(), cp.wxyz())
# Bad values.
if T != Expression:
q = Quaternion.Identity()
# - wxyz
q_wxyz_bad = [1., 2, 3, 4]
with self.assertRaises(RuntimeError):
q.set_wxyz(q_wxyz_bad)
numpy_compare.assert_float_equal(q.wxyz(), [1., 0, 0, 0])
# - Rotation.
R_bad = np.copy(R)
R_bad[0, 0] = 10
with self.assertRaises(RuntimeError):
q_other.set_rotation(R_bad)
numpy_compare.assert_float_equal(q_other.rotation(), R_I)
# Operations.
q = Quaternion(wxyz=[0.5, 0.5, 0.5, 0.5])
numpy_compare.assert_float_equal(q.multiply(position=[1, 2, 3]),
[3., 1, 2])
q_I = q.inverse().multiply(q)
numpy_compare.assert_float_equal(q_I.wxyz(), [1., 0, 0, 0])
if six.PY3:
numpy_compare.assert_float_equal(
eval("q.inverse() @ q").wxyz(), [1., 0, 0, 0])
q_conj = q.conjugate()
numpy_compare.assert_float_equal(q_conj.wxyz(),
[0.5, -0.5, -0.5, -0.5])
# Test `type_caster`s.
if T == float:
value = test_util.create_quaternion()
self.assertTrue(isinstance(value, mut.Quaternion))
test_util.check_quaternion(value)
def check_quaternion(self, T):
# Simple API.
Quaternion = mut.Quaternion_[T]
cast = np.vectorize(T)
q_identity = Quaternion()
self.assertEqual(npc.resolve_type(q_identity.wxyz()), T)
npc.assert_float_equal(q_identity.wxyz(), [1., 0, 0, 0])
npc.assert_float_equal(copy.copy(q_identity).wxyz(), [1., 0, 0, 0])
npc.assert_equal(q_identity.wxyz(), Quaternion.Identity().wxyz())
if T == float:
self.assertEqual(
str(q_identity),
"Quaternion_[float](w=1.0, x=0.0, y=0.0, z=0.0)")
# Test ordering.
q_wxyz = normalize([0.1, 0.3, 0.7, 0.9])
q = Quaternion(w=q_wxyz[0], x=q_wxyz[1], y=q_wxyz[2], z=q_wxyz[3])
# - Accessors.
npc.assert_float_equal(q.w(), q_wxyz[0])
npc.assert_float_equal(q.x(), q_wxyz[1])
npc.assert_float_equal(q.y(), q_wxyz[2])
npc.assert_float_equal(q.z(), q_wxyz[3])
npc.assert_float_equal(q.xyz(), q_wxyz[1:])
npc.assert_float_equal(q.wxyz(), q_wxyz)
# - Mutators.
q_wxyz_new = q_wxyz[::-1]
npc.assert_not_equal(q_wxyz, q_wxyz_new)
q.set_wxyz(wxyz=q_wxyz_new)
npc.assert_float_equal(q.wxyz(), q_wxyz_new)
q.set_wxyz(
w=q_wxyz_new[0], x=q_wxyz_new[1], y=q_wxyz_new[2], z=q_wxyz_new[3])
npc.assert_float_equal(q.wxyz(), q_wxyz_new)
# Alternative constructors.
q_other = Quaternion(wxyz=q_wxyz)
npc.assert_float_equal(q_other.wxyz(), q_wxyz)
R = np.array([
[0., 0, 1],
[1, 0, 0],
[0, 1, 0]])
q_wxyz_expected = np.array([0.5, 0.5, 0.5, 0.5])
q_other = Quaternion(q_wxyz_expected)
npc.assert_float_equal(q_other.rotation(), R)
R_I = np.eye(3, 3)
q_other.set_rotation(R_I)
npc.assert_equal(q_other.wxyz(), q_identity.wxyz())
# - Copy constructor.
cp = Quaternion(other=q)
npc.assert_equal(q.wxyz(), cp.wxyz())
# Bad values.
if T != Expression:
q = Quaternion.Identity()
# - wxyz
q_wxyz_bad = [1., 2, 3, 4]
with self.assertRaises(RuntimeError):
q.set_wxyz(q_wxyz_bad)
npc.assert_float_equal(q.wxyz(), [1., 0, 0, 0])
# - Rotation.
R_bad = np.copy(R)
R_bad[0, 0] = 10
with self.assertRaises(RuntimeError):
q_other.set_rotation(R_bad)
npc.assert_float_equal(q_other.rotation(), R_I)
# Operations.
q = Quaternion(wxyz=[0.5, 0.5, 0.5, 0.5])
npc.assert_float_equal(q.multiply(position=[1, 2, 3]), [3., 1, 2])
q_I = q.inverse().multiply(q)
npc.assert_float_equal(q_I.wxyz(), [1., 0, 0, 0])
if six.PY3:
npc.assert_float_equal(
eval("q.inverse() @ q").wxyz(), [1., 0, 0, 0])
q_conj = q.conjugate()
npc.assert_float_equal(q_conj.wxyz(), [0.5, -0.5, -0.5, -0.5])
# Test `type_caster`s.
if T == float:
value = test_util.create_quaternion()
self.assertTrue(isinstance(value, mut.Quaternion))
test_util.check_quaternion(value)
def test_quaternion(self, T):
# Simple API.
Quaternion = mut.Quaternion_[T]
cast = np.vectorize(T)
q_identity = Quaternion()
self.assertEqual(numpy_compare.resolve_type(q_identity.wxyz()), T)
numpy_compare.assert_float_equal(q_identity.wxyz(), [1., 0, 0, 0])
numpy_compare.assert_float_equal(
copy.copy(q_identity).wxyz(), [1., 0, 0, 0])
numpy_compare.assert_equal(q_identity.wxyz(),
Quaternion.Identity().wxyz())
if T == float:
self.assertEqual(str(q_identity),
"Quaternion_[float](w=1.0, x=0.0, y=0.0, z=0.0)")
self.check_cast(mut.Quaternion_, T)
# Test ordering.
q_wxyz = normalize([0.1, 0.3, 0.7, 0.9])
q = Quaternion(w=q_wxyz[0], x=q_wxyz[1], y=q_wxyz[2], z=q_wxyz[3])
# - Accessors.
numpy_compare.assert_float_equal(q.w(), q_wxyz[0])
numpy_compare.assert_float_equal(q.x(), q_wxyz[1])
numpy_compare.assert_float_equal(q.y(), q_wxyz[2])
numpy_compare.assert_float_equal(q.z(), q_wxyz[3])
numpy_compare.assert_float_equal(q.xyz(), q_wxyz[1:])
numpy_compare.assert_float_equal(q.wxyz(), q_wxyz)
# - Mutators.
q_wxyz_new = q_wxyz[::-1]
numpy_compare.assert_not_equal(q_wxyz, q_wxyz_new)
q.set_wxyz(wxyz=q_wxyz_new)
numpy_compare.assert_float_equal(q.wxyz(), q_wxyz_new)
q.set_wxyz(w=q_wxyz_new[0],
x=q_wxyz_new[1],
y=q_wxyz_new[2],
z=q_wxyz_new[3])
numpy_compare.assert_float_equal(q.wxyz(), q_wxyz_new)
# Alternative constructors.
q_other = Quaternion(wxyz=q_wxyz)
numpy_compare.assert_float_equal(q_other.wxyz(), q_wxyz)
R = np.array([[0., 0, 1], [1, 0, 0], [0, 1, 0]])
q_wxyz_expected = np.array([0.5, 0.5, 0.5, 0.5])
q_other = Quaternion(q_wxyz_expected)
numpy_compare.assert_float_equal(q_other.rotation(), R)
R_I = np.eye(3, 3)
q_other.set_rotation(R_I)
numpy_compare.assert_equal(q_other.wxyz(), q_identity.wxyz())
# - Copy constructor.
cp = Quaternion(other=q)
numpy_compare.assert_equal(q.wxyz(), cp.wxyz())
# Bad values.
if T != Expression:
q = Quaternion.Identity()
# - wxyz
q_wxyz_bad = [1., 2, 3, 4]
with self.assertRaises(RuntimeError):
q.set_wxyz(q_wxyz_bad)
numpy_compare.assert_float_equal(q.wxyz(), [1., 0, 0, 0])
# - Rotation.
R_bad = np.copy(R)
R_bad[0, 0] = 10
with self.assertRaises(RuntimeError):
q_other.set_rotation(R_bad)
numpy_compare.assert_float_equal(q_other.rotation(), R_I)
# Operations.
q_AB = Quaternion(wxyz=[0.5, 0.5, 0.5, 0.5])
q_I = q_AB.inverse().multiply(q_AB)
numpy_compare.assert_float_equal(q_I.wxyz(), [1., 0, 0, 0])
numpy_compare.assert_float_equal((q_AB.inverse() @ q_AB).wxyz(),
[1., 0, 0, 0])
v_B = np.array([1., 2, 3])
v_A = np.array([3., 1, 2])
numpy_compare.assert_float_allclose(q_AB.multiply(vector=v_B), v_A)
vlist_B = np.array([v_B, v_B]).T
vlist_A = np.array([v_A, v_A]).T
numpy_compare.assert_float_equal(q_AB.multiply(vector=vlist_B),
vlist_A)
q_AB_conj = q_AB.conjugate()
numpy_compare.assert_float_equal(q_AB_conj.wxyz(),
[0.5, -0.5, -0.5, -0.5])
numpy_compare.assert_float_equal(
q_I.slerp(t=0, other=q_I).wxyz(), [1., 0, 0, 0])
# - Test shaping (#13885).
v = np.array([0., 0., 0.])
vs = np.array([[1., 2., 3.], [4., 5., 6.]]).T
self.assertEqual((q_AB @ v).shape, (3, ))
self.assertEqual((q_AB @ v.reshape((3, 1))).shape, (3, 1))
self.assertEqual((q_AB @ vs).shape, (3, 2))
# Test `type_caster`s.
if T == float:
value = test_util.create_quaternion()
self.assertTrue(isinstance(value, mut.Quaternion))
test_util.check_quaternion(value)
assert_pickle(self, q_AB, Quaternion.wxyz, T=T)