def quaternion_and_vector_to_rotor(quaternion, vector):
"""
Takes in a quaternion and a vector and returns a conformal rotor that
implements the transformation
"""
rotation = quaternion_to_rotor(quaternion)
translation = generate_translation_rotor(vector[0] * e1 +
vector[1] * e2 * vector[3] * e3)
return translation * rotation
def quaternion_and_vector_to_rotor(quaternion, vector):
"""
Takes in a quaternion and a vector and returns a conformal rotor that
implements the transformation
"""
rotation = quaternion_to_rotor(quaternion)
translation = generate_translation_rotor(
vector[0] * e1 + vector[1] * e2 * vector[3] * e3)
return translation * rotation
def test_quaternion_conversions(self, rng): # noqa: F811
"""
Bidirectional rotor - quaternion test. This needs work but is a reasonable start
"""
from clifford.tools.g3 import rotor_to_quaternion, quaternion_to_rotor
from clifford.tools.g3c import random_rotation_rotor
for i in range(1000):
rotor = random_rotation_rotor(rng=rng)
quaternion = rotor_to_quaternion(rotor)
rotor_return = quaternion_to_rotor(quaternion)
testing.assert_almost_equal(rotor.value, rotor_return.value)
def test_quaternion_conversions(self):
"""
Bidirectional rotor - quaternion test. This needs work but is a reasonable start
"""
from clifford.g3c import layout
from clifford.tools.g3 import rotor_to_quaternion, quaternion_to_rotor
from clifford.tools.g3c import random_rotation_rotor
for i in range(1000):
rotor = random_rotation_rotor()
quaternion = rotor_to_quaternion(rotor)
rotor_return = quaternion_to_rotor(quaternion)
testing.assert_almost_equal(rotor.value, rotor_return.value)
def test_quaternion_conversions(self):
"""
Bidirectional rotor - quaternion test. This needs work but is a reasonable start
"""
from clifford.g3c import layout
from clifford.tools.g3 import rotor_to_quaternion, quaternion_to_rotor
e1 = layout.blades['e1']
e2 = layout.blades['e2']
rotor = e1 * e2
print(rotor)
quaternion = rotor_to_quaternion(rotor)
print(quaternion)
rotor_return = quaternion_to_rotor(quaternion)
print(rotor_return)
testing.assert_almost_equal(rotor.value, rotor_return.value)