def test_is_normalized_random(self):
"""Tests that is_normalized works as intended."""
# Samples normalized axis-angles.
random_euler_angles = test_helpers.generate_random_test_euler_angles()
with self.subTest(name=("is_normalized")):
random_axis, random_angle = axis_angle.from_euler(random_euler_angles)
pred = axis_angle.is_normalized(random_axis, random_angle)
self.assertAllEqual(np.ones(shape=random_angle.shape, dtype=bool), pred)
with self.subTest(name=("is_not_normalized")):
random_axis *= 1.01
pred = axis_angle.is_normalized(random_axis, random_angle)
self.assertAllEqual(np.zeros(shape=random_angle.shape, dtype=bool), pred)
def test_from_euler_normalized_preset(self):
"""Tests that from_euler allows build normalized axis-angles."""
euler_angles = test_helpers.generate_preset_test_euler_angles()
axis, angle = axis_angle.from_euler(euler_angles)
self.assertAllEqual(
axis_angle.is_normalized(axis, angle), np.ones(angle.shape, dtype=bool))
def test_inverse_normalized_random(self):
"""Tests that axis-angle inversion return a normalized axis-angle."""
random_axis, random_angle = test_helpers.generate_random_test_axis_angle()
inverse_axis, inverse_angle = axis_angle.inverse(random_axis, random_angle)
self.assertAllEqual(
axis_angle.is_normalized(inverse_axis, inverse_angle),
np.ones(random_angle.shape))
def test_from_rotation_matrix_normalized_random(self):
"""Tests that from_rotation_matrix returns normalized axis-angles."""
random_euler_angles = test_helpers.generate_random_test_euler_angles()
matrix = rotation_matrix_3d.from_euler(random_euler_angles)
axis, angle = axis_angle.from_rotation_matrix(matrix)
self.assertAllEqual(
axis_angle.is_normalized(axis, angle), np.ones(angle.shape, dtype=bool))
def test_from_quaternion_normalized_random(self):
"""Tests that from_quaternion returns normalized axis-angles."""
random_quaternions = test_helpers.generate_random_test_quaternions()
random_axis, random_angle = axis_angle.from_quaternion(random_quaternions)
self.assertAllEqual(
axis_angle.is_normalized(random_axis, random_angle),
np.ones(random_angle.shape))
def test_from_quaternion_normalized_preset(self):
"""Tests that from_quaternion returns normalized axis-angles."""
euler_angles = test_helpers.generate_preset_test_euler_angles()
quat = quaternion.from_euler(euler_angles)
axis, angle = axis_angle.from_quaternion(quat)
self.assertAllEqual(
axis_angle.is_normalized(axis, angle), np.ones(angle.shape, dtype=bool))
def test_from_euler_normalized_random(self):
"""Tests that from_euler allows build normalized axis-angles."""
random_euler_angles = test_helpers.generate_random_test_euler_angles()
random_axis, random_angle = axis_angle.from_euler(random_euler_angles)
self.assertAllEqual(
axis_angle.is_normalized(random_axis, random_angle),
np.ones(shape=random_angle.shape))
