def test_q_multiply(self):
print "\ntest q_multiply"
q1 = np.array(range(1,5), dtype=float)
q2 = np.array(range(2,6), dtype=float)
print q1
q3 = rotations.q_multiply(q1, q2)
print repr(q3)
qtrue = np.array([-36., 6., 12., 12.])
for v1, v2 in izip(q3, qtrue):
self.assertAlmostEqual(v1, v2, 4)
def rotate_aa(p1, p2):
"""
change a given angle axis rotation p1 by the
rotation p2
"""
return q2aa(q_multiply( aa2q(p2), aa2q(p1) ))
def rotate_aa(p1, p2):
"""
change a given angle axis rotation p2 by the
rotation p1
"""
return q2aa(q_multiply(aa2q(p2), aa2q(p1)))