def test_quaternion_inverse(self):
q0 = t.random_quaternion()
q1 = self.f(q0)
assert_allclose(t.quaternion_multiply(q0, q1), [1, 0, 0, 0], atol=_ATOL)
def test_quaternion_inverse(self):
q0 = t.random_quaternion()
q1 = self.f(q0)
assert_allclose(t.quaternion_multiply(q0, q1), [1, 0, 0, 0],
atol=_ATOL)
def test_mul(zero_quat, right_angle):
assert_almost_equal(right_angle, rotation.mul(zero_quat, right_angle))
assert_almost_equal(right_angle, rotation.mul(right_angle, zero_quat))
assert_almost_equal(
transformations.quaternion_multiply(right_angle, right_angle),
rotation.mul(right_angle, right_angle))
