def test_from_rodrigues(self):
rod_list_1 = [0, 0, 0]
r1 = RotationD(rod_list_1)
numpy.testing.assert_equal(r1.rodrigues(), rod_list_1)
# This one will get normalized by magnitude in rotation instance
# This vector's is less than 2*pi, so we should expect this vector to be
# returned as is.
rod2 = numpy.array([2, -1, 0.5])
nod2_normed = array_normalize(rod2)
print("r2 2-norm:", numpy.linalg.norm(rod2))
print("r2-normed:", nod2_normed)
r2 = RotationD(rod2)
numpy.testing.assert_array_almost_equal(
r2.rodrigues(), rod2, decimal=14, # 1e-14
)
def test_to_rodrigues(self):
# rodrigues identity: [0,0,0]
ident_rod = [0, 0, 0]
rot_d = RotationD()
rot_f = RotationF()
rod = rot_d.rodrigues()
numpy.testing.assert_equal(rod, ident_rod)
rod = rot_f.rodrigues()
numpy.testing.assert_equal(rod, ident_rod)
