def test_no_rotation_matrix(self):
"""Check if no rotation is correctly returned"""
no_rotation = array(((1, 0, 0), (0, 1, 0), (0, 0, 1)))
testing.assert_equal(axes.rotation_matrix(0, 'x'), no_rotation)
testing.assert_equal(axes.rotation_matrix(0, 'y'), no_rotation)
testing.assert_equal(axes.rotation_matrix(0, 'z'), no_rotation)
def test_no_rotation_matrix(self):
"""Check if no rotation is correctly returned"""
no_rotation = matrix(((1, 0, 0), (0, 1, 0), (0, 0, 1)))
testing.assert_equal(axes.rotation_matrix(0, 'x'), no_rotation)
testing.assert_equal(axes.rotation_matrix(0, 'y'), no_rotation)
testing.assert_equal(axes.rotation_matrix(0, 'z'), no_rotation)
def test_rotation_matrix(self):
"""Rotate by 90 degrees to swap the other two axes"""
testing.assert_almost_equal(axes.rotation_matrix(pi / 2., 'x'),
array(((1, 0, 0), (0, 0, 1), (0, -1, 0))))
testing.assert_almost_equal(axes.rotation_matrix(pi / 2., 'y'),
array(((0, 0, -1), (0, 1, 0), (1, 0, 0))))
testing.assert_almost_equal(axes.rotation_matrix(pi / 2, 'z'),
array(((0, 1, 0), (-1, 0, 0), (0, 0, 1))))
def test_rotation_matrix(self):
"""Rotate by 90 degrees to swap the other two axes"""
testing.assert_almost_equal(axes.rotation_matrix(pi / 2., 'x'),
matrix(((1, 0, 0), (0, 0, 1), (0, -1, 0))))
testing.assert_almost_equal(axes.rotation_matrix(pi / 2., 'y'),
matrix(((0, 0, -1), (0, 1, 0), (1, 0, 0))))
testing.assert_almost_equal(axes.rotation_matrix(pi / 2, 'z'),
matrix(((0, 1, 0), (-1, 0, 0), (0, 0, 1))))
