def test_operators_quaternion(self):
q1 = Quaternion()
q2 = Quaternion.from_x_rotation(0.5)
# add
self.assertRaises(ValueError, lambda: q1 + q2)
# subtract
# we had to add this to enable np.array_equal to work
# as it uses subtraction
#self.assertRaises(ValueError, lambda: q1 - q2)
# multiply
self.assertTrue(
np.array_equal(
q1 * q2,
quaternion.cross(quaternion.create(),
quaternion.create_from_x_rotation(0.5))))
# divide
self.assertRaises(ValueError, lambda: q1 / q2)
# or
self.assertTrue(
np.array_equal(
q1 | q2,
quaternion.dot(quaternion.create(),
quaternion.create_from_x_rotation(0.5))))
# inverse
self.assertTrue(
np.array_equal(
~q2,
quaternion.conjugate(quaternion.create_from_x_rotation(0.5))))
def test_operators_quaternion(self):
q1 = Quaternion()
q2 = Quaternion.from_x_rotation(0.5)
# add
self.assertRaises(ValueError, lambda: q1 + q2)
# subtract
# we had to add this to enable np.array_equal to work
# as it uses subtraction
#self.assertRaises(ValueError, lambda: q1 - q2)
# multiply
self.assertTrue(np.array_equal(q1 * q2, quaternion.cross(quaternion.create(), quaternion.create_from_x_rotation(0.5))))
# divide
self.assertRaises(ValueError, lambda: q1 / q2)
# or
self.assertTrue(np.array_equal(q1 | q2, quaternion.dot(quaternion.create(), quaternion.create_from_x_rotation(0.5))))
# inverse
self.assertTrue(np.array_equal(~q2, quaternion.conjugate(quaternion.create_from_x_rotation(0.5))))
# ==
self.assertTrue(Quaternion() == Quaternion())
self.assertFalse(Quaternion() == Quaternion([0., 0., 0., 0.]))
# !=
self.assertTrue(Quaternion() != Quaternion([1., 1., 1., 1.]))
self.assertFalse(Quaternion() != Quaternion())
def test_dot_batch(self):
result = quaternion.dot([
[1., 0., 0., 0.],
[0., 1., 0., 0.],
[.2, .2, 0., 0.]
], [
[0., 1., 0., 0.],
[0., 1., 0., 0.],
[2., -.2, 0., 0.]
])
expected = [0., 1., 0.36]
np.testing.assert_almost_equal(result, expected, decimal=5)
def test_dot_batch(self):
result = quaternion.dot([
[1., 0., 0., 0.],
[0., 1., 0., 0.],
[.2, .2, 0., 0.]
], [
[0., 1., 0., 0.],
[0., 1., 0., 0.],
[2., -.2, 0., 0.]
])
expected = [0., 1., 0.36]
np.testing.assert_almost_equal(result, expected, decimal=5)
def test_operators_quaternion(self):
q1 = Quaternion()
q2 = Quaternion.from_x_rotation(0.5)
# add
self.assertRaises(ValueError, lambda: q1 + q2)
# subtract
self.assertRaises(ValueError, lambda: q1 - q2)
# multiply
self.assertTrue(np.array_equal(q1 * q2, quaternion.cross(quaternion.create(), quaternion.create_from_x_rotation(0.5))))
# divide
self.assertRaises(ValueError, lambda: q1 / q2)
# or
self.assertTrue(np.array_equal(q1 | q2, quaternion.dot(quaternion.create(), quaternion.create_from_x_rotation(0.5))))
# inverse
self.assertTrue(np.array_equal(~q2, quaternion.conjugate(quaternion.create_from_x_rotation(0.5))))
def test_dot_angle(self):
result = quaternion.dot([.2, .2, 0., 0.], [2., -.2, 0., 0.])
np.testing.assert_almost_equal(result, 0.36, decimal=5)
def test_dot_parallel(self):
result = quaternion.dot([0., 1., 0., 0.], [0., 1., 0., 0.])
np.testing.assert_almost_equal(result, 1.0, decimal=5)
def test_dot_adjacent(self):
result = quaternion.dot([1., 0., 0., 0.], [0., 1., 0., 0.])
np.testing.assert_almost_equal(result, 0.0, decimal=5)
def test_dot_angle(self):
result = quaternion.dot([.2, .2, 0., 0.], [2., -.2, 0., 0.])
np.testing.assert_almost_equal(result, 0.36, decimal=5)
def test_dot_parallel(self):
result = quaternion.dot([0., 1., 0., 0.], [0., 1., 0., 0.])
np.testing.assert_almost_equal(result, 1.0, decimal=5)
def test_dot_adjacent(self):
result = quaternion.dot([1., 0., 0., 0.], [0., 1., 0., 0.])
np.testing.assert_almost_equal(result, 0.0, decimal=5)
def test_dot(self):
q1 = Quaternion.from_x_rotation(np.pi / 2.0)
q2 = Quaternion.from_y_rotation(np.pi / 2.0)
self.assertTrue(np.allclose(q1.dot(q2), quaternion.dot(q1, q2)))
def test_dot(self):
q1 = Quaternion.from_x_rotation(np.pi / 2.0)
q2 = Quaternion.from_y_rotation(np.pi / 2.0)
self.assertTrue(np.allclose(q1.dot(q2), quaternion.dot(q1, q2)))
