def test_angle_axis2quat():
q = nq.angle_axis2quat(0, [1, 0, 0])
yield assert_array_equal, q, [1, 0, 0, 0]
q = nq.angle_axis2quat(np.pi, [1, 0, 0])
yield assert_array_almost_equal, q, [0, 1, 0, 0]
q = nq.angle_axis2quat(np.pi, [1, 0, 0], True)
yield assert_array_almost_equal, q, [0, 1, 0, 0]
q = nq.angle_axis2quat(np.pi, [2, 0, 0], False)
yield assert_array_almost_equal, q, [0, 1, 0, 0]
def test_angle_axis():
for M, q in eg_pairs:
theta, vec = nq.quat2angle_axis(q)
q2 = nq.angle_axis2quat(theta, vec)
yield nq.nearly_equivalent, q, q2
aa_mat = nq.angle_axis2mat(theta, vec)
yield assert_array_almost_equal, aa_mat, M
