def test_quaternion_slerp(self):
sqrt2 = np.sqrt(2) / 2
identity = np.array([0.0, 0.0, 0.0, 1.0])
y90rot = np.array([0.0, sqrt2, 0.0, sqrt2])
y180rot = np.array([0.0, 1.0, 0.0, 0.0])
# Testing a == 0
# Must be id
result = quaternion.slerp(identity, y90rot, 0.0)
np.testing.assert_almost_equal(result, identity, decimal=4)
# Testing a == 1
# Must be 90° rotation on Y : 0 0.7 0 0.7
result = quaternion.slerp(identity, y90rot, 1.0)
np.testing.assert_almost_equal(result, y90rot, decimal=4)
# Testing standard, easy case
# Must be 45° rotation on Y : 0 0.38 0 0.92
y45rot1 = quaternion.slerp(identity, y90rot, 0.5)
# Testing reverse case
# Must be 45° rotation on Y : 0 0.38 0 0.92
y45rot2 = quaternion.slerp(y90rot, identity, 0.5)
np.testing.assert_almost_equal(y45rot1, y45rot2, decimal=4)
# Testing against full circle around the sphere instead of shortest path
# Must be 45° rotation on Y
# certainly not a 135° rotation
# y45rot3 = quaternion.slerp(identity, quaternion.negate(y90rot), 0.5)
y45rot3 = quaternion.slerp(identity, y90rot, 0.5)
y45angle3 = quaternion.rotation_angle(y45rot3)
np.testing.assert_almost_equal(y45angle3 * 180 / np.pi, 45, decimal=4)
np.testing.assert_almost_equal(y45angle3, np.pi / 4, decimal=4)
# # Same, but inverted
# # Must also be 45° rotation on Y : 0 0.38 0 0.92
# # -0 -0.38 -0 -0.92 is ok too
y45rot4 = quaternion.slerp(-y90rot, identity, 0.5)
np.testing.assert_almost_equal(np.abs(y45rot4), y45rot2, decimal=4)
# # Testing q1 = q2
# # Must be 90° rotation on Y : 0 0.7 0 0.7
y90rot3 = quaternion.slerp(y90rot, y90rot, 0.5)
np.testing.assert_almost_equal(y90rot3, y90rot, decimal=4)
# # Testing 180° rotation
# # Must be 90° rotation on almost any axis that is on the XZ plane
xz90rot = quaternion.slerp(identity, -y90rot, 0.5)
xz90rot = quaternion.rotation_angle(xz90rot)
np.testing.assert_almost_equal(xz90rot, np.pi / 4, decimal=4)
def test_quaternion_slerp(self):
sqrt2 = np.sqrt(2) / 2
identity = np.array([0.0, 0.0, 0.0, 1.0])
y90rot = np.array([0.0, sqrt2, 0.0, sqrt2])
y180rot = np.array([0.0, 1.0, 0.0, 0.0])
# Testing a == 0
# Must be id
result = quaternion.slerp(identity, y90rot, 0.0)
np.testing.assert_almost_equal(result, identity, decimal=4)
# Testing a == 1
# Must be 90° rotation on Y : 0 0.7 0 0.7
result = quaternion.slerp(identity, y90rot, 1.0)
np.testing.assert_almost_equal(result, y90rot, decimal=4)
# Testing standard, easy case
# Must be 45° rotation on Y : 0 0.38 0 0.92
y45rot1 = quaternion.slerp(identity, y90rot, 0.5)
# Testing reverse case
# Must be 45° rotation on Y : 0 0.38 0 0.92
y45rot2 = quaternion.slerp(y90rot, identity, 0.5)
np.testing.assert_almost_equal(y45rot1, y45rot2, decimal=4)
# Testing against full circle around the sphere instead of shortest path
# Must be 45° rotation on Y
# certainly not a 135° rotation
# y45rot3 = quaternion.slerp(identity, quaternion.negate(y90rot), 0.5)
y45rot3 = quaternion.slerp(identity, y90rot, 0.5)
y45angle3 = quaternion.rotation_angle(y45rot3)
np.testing.assert_almost_equal(y45angle3 * 180 / np.pi, 45, decimal=4)
np.testing.assert_almost_equal(y45angle3, np.pi / 4, decimal=4)
# # Same, but inverted
# # Must also be 45° rotation on Y : 0 0.38 0 0.92
# # -0 -0.38 -0 -0.92 is ok too
y45rot4 = quaternion.slerp(-y90rot, identity, 0.5)
np.testing.assert_almost_equal(np.abs(y45rot4), y45rot2, decimal=4)
# # Testing q1 = q2
# # Must be 90° rotation on Y : 0 0.7 0 0.7
y90rot3 = quaternion.slerp(y90rot, y90rot, 0.5);
np.testing.assert_almost_equal(y90rot3, y90rot, decimal=4)
# # Testing 180° rotation
# # Must be 90° rotation on almost any axis that is on the XZ plane
xz90rot = quaternion.slerp(identity, -y90rot, 0.5)
xz90rot = quaternion.rotation_angle(xz90rot)
np.testing.assert_almost_equal(xz90rot, np.pi / 4, decimal=4)
def test_rotation_angle(self):
result = quaternion.rotation_angle(
[5.77350000e-01, 5.77350000e-01, 5.77350000e-01, 6.12323400e-17])
np.testing.assert_almost_equal(result, np.pi, decimal=5)
def test_rotation_angle(self):
result = quaternion.rotation_angle([5.77350000e-01, 5.77350000e-01, 5.77350000e-01, 6.12323400e-17])
np.testing.assert_almost_equal(result, np.pi, decimal=5)
def test_angle(self):
q = Quaternion.from_x_rotation(np.pi / 2.0)
self.assertEqual(q.angle, quaternion.rotation_angle(q))
def test_angle(self):
q = Quaternion.from_x_rotation(np.pi / 2.0)
self.assertEqual(q.angle, quaternion.rotation_angle(q))
