def testEuler():
'''
Test some euler conversions
'''
quat = transformations.random_quaternion()
pos = np.random.rand(3)
frame = transformUtils.transformFromPose(pos, quat)
mat = transformUtils.getNumpyFromTransform(frame)
rpy = transformUtils.rollPitchYawFromTransform(frame)
rpy2 = transformations.euler_from_matrix(mat)
print rpy
print rpy2
assert np.allclose(rpy, rpy2)
def testEulerToFrame():
'''
Test some euler converions
'''
rpy = transformations.euler_from_quaternion(
transformations.random_quaternion())
frame = transformUtils.frameFromPositionAndRPY([0, 0, 0], np.degrees(rpy))
mat = transformUtils.getNumpyFromTransform(frame)
mat2 = transformations.euler_matrix(rpy[0], rpy[1], rpy[2])
print mat
print mat2
assert np.allclose(mat, mat2)
def testTransform():
'''
test transformFromPose --> getAxesFromTransform is same as quat --> matrix
'''
quat = transformations.random_quaternion()
pos = np.random.rand(3)
frame = transformUtils.transformFromPose(pos, quat)
axes = transformUtils.getAxesFromTransform(frame)
mat = transformUtils.getNumpyFromTransform(frame)
assert np.allclose(mat[:3, :3], np.array(axes).transpose())
mat2 = transformations.quaternion_matrix(quat)
mat2[:3, 3] = pos
print mat
print mat2
assert np.allclose(mat, mat2)
