def test_homogeneous_inverse():
e = np.eye(3) * 2
e[2, 2] = 1
e_inv = np.eye(3) * 0.5
e_inv[2, 2] = 1
h = Homogeneous(e)
assert_allclose(h.pseudoinverse().h_matrix, e_inv)
def test_homogeneous_inverse():
e = np.eye(3) * 2
e[2, 2] = 1
e_inv = np.eye(3) * 0.5
e_inv[2, 2] = 1
h = Homogeneous(e)
assert_allclose(h.pseudoinverse().h_matrix, e_inv)