def run():
ok = True
qi = Quaternion.id()
ok &= EXPECT_VEC_EQ([0, 0, 0, 1], qi)
q1 = [0, 0.5, 0, 1]
ok &= test_inv(q1)
return ok
def run():
ok=True
qi= Quaternion.id()
ok &= EXPECT_VEC_EQ([0,0,0,1],qi)
q1=[0,0.5,0,1]
ok &= test_inv(q1)
return ok
def test_inv(q):
q_inv = Quaternion.inv(q)
return EXPECT_VEC_EQ(Quaternion.id(), Quaternion.prod(q, q_inv),
"test_inv")
def __init__(self):
self.mass=0.
self.com=[0.,0.,0.]
self.diagonal_inertia=[0.,0.,0.]
self.inertia_rotation=Quaternion.id()
self.density = 0.
def __init__(self):
self.mass=0.
self.com=[0.,0.,0.]
self.diagonal_inertia=[0.,0.,0.]
self.inertia_rotation=Quaternion.id()
def test_inv(q):
q_inv=Quaternion.inv(q)
return EXPECT_VEC_EQ(Quaternion.id(), Quaternion.prod(q,q_inv), "test_inv")
