def test_angle_axis_to_rot3d_invariant():
"""Test the invariance of angle_axis_to_rot3d.
Test the invariance property of the rotation axis on randomly
selected axes.
"""
n = 1000
orientations = generate.get_random_quat(n)
thetas = np.random.rand(n) * 2 * np.pi
for i in range(n):
orientation = orientations[i, 1:]
theta = thetas[i]
rot = convert.angle_axis_to_rot3d(orientation, theta)
rotated = np.dot(rot, orientation)
assert np.allclose(rotated, orientation)
def test_angle_axis_to_rot3d_x():
"""Test angle_axis_to_rot3d for 90deg rotations along x."""
rot90 = convert.angle_axis_to_rot3d(cst.vecx, np.pi / 2)
assert np.allclose(rot90, cst.Rx90)
def test_angle_axis_to_rot3d_z_name():
"""Test angle_axis_to_rot3d for 90deg rotations along z, by name."""
# Caps should work too
rot90 = convert.angle_axis_to_rot3d('Z', np.pi / 2)
assert np.allclose(rot90, cst.Rz90)
def test_angle_axis_to_rot3d_y_name():
"""Test angle_axis_to_rot3d for 90deg rotations along y, by name."""
rot90 = convert.angle_axis_to_rot3d('y', np.pi / 2)
assert np.allclose(rot90, cst.Ry90)
def test_angle_axis_to_rot3d_z_name():
"""Test angle_axis_to_rot3d for 90deg rotations along z, by name."""
theta = np.pi / 2
rot90 = convert.angle_axis_to_rot3d('Z', theta) # Caps should work too
assert np.allclose(rot90, Rz90)
def test_angle_axis_to_rot3d_x_name():
"""Test angle_axis_to_rot3d for 90deg rotations along x, by name."""
theta = np.pi / 2
rot90 = convert.angle_axis_to_rot3d('x', theta)
assert np.allclose(rot90, Rx90)
def test_angle_axis_to_rot3d_z():
"""Test angle_axis_to_rot3d for 90deg rotations along z."""
axis = np.array([0., 0., 1.])
theta = np.pi / 2
rot90 = convert.angle_axis_to_rot3d(axis, theta)
assert np.allclose(rot90, Rz90)
