def test_rand(self): rotm_1 = euldeg2rotm(23, 82, 13) q = rotm2quat(rotm_1) rotm_2 = quat2rotm(q) assert np.all(np.isclose(rotm_1, rotm_2)) rotm_1 = euldeg2rotm(-240, 428, -888) q = rotm2quat(rotm_1) rotm_2 = quat2rotm(q) assert np.all(np.isclose(rotm_1, rotm_2))
def test_rand(self): q = euldeg2quat(23, 82, 13) rotm_gt = euldeg2rotm(23, 82, 13) rotm = quat2rotm(q) assert np.all(np.isclose(rotm, rotm_gt)) q = euldeg2quat(-240, 428, -888) rotm_gt = euldeg2rotm(-240, 428, -888) rotm = quat2rotm(q) assert np.all(np.isclose(rotm, rotm_gt))
def test_y90(self): R = euldeg2rotm(0, 90, 0) quat = rotm2quat(R) quat_gt = np.zeros(4) quat_gt[0] = 0.7071068 quat_gt[2] = 0.7071068 assert np.all(np.isclose(quat, quat_gt))
def test_identity(self): rotm = euldeg2rotm(0, 0, 0) rotm = tf.convert_to_tensor( np.tile(np.expand_dims(rotm, axis=0), (24, 1, 1))) mat6d_gt = rotm2mat6d_tf(rotm) rotm_est = mat6d2rotm_tf(mat6d_gt) assert np.all(np.isclose(rotm, rotm_est))
def test_rand(self): R = euldeg2rotm(23, 82, 13) quat = rotm2quat(R) quat_gt = np.zeros(4) quat_gt[0] = 0.74961123 quat_gt[1] = 0.07672064 quat_gt[2] = 0.65578898 quat_gt[3] = -0.04623594 assert np.all(np.isclose(quat, quat_gt)) R = euldeg2rotm(-240, 428, -888) quat = rotm2quat(R) quat_gt = np.zeros(4) quat_gt[0] = -0.43829334 quat_gt[1] = 0.35311284 quat_gt[2] = -0.68480871 quat_gt[3] = -0.46286856 assert np.all(np.isclose(quat, quat_gt)) or np.all( np.isclose(-quat, quat_gt))
def test_rand(self): rotm = euldeg2rotm(23, 82, 13) rotm = tf.convert_to_tensor(np.expand_dims(rotm, axis=0)) mat6d_gt = rotm2mat6d_tf(rotm) rotm_est = mat6d2rotm_tf(mat6d_gt) assert np.all(np.isclose(rotm, rotm_est))
def test_unnormalized(self): q = euldeg2quat(2, -45, 21) * 5 rotm_gt = euldeg2rotm(2, -45, 21) rotm = quat2rotm(q) assert np.all(np.isclose(rotm, rotm_gt))
def test_z180(self): q = euldeg2quat(0, 0, 180) rotm_gt = euldeg2rotm(0, 0, 180) rotm = quat2rotm(q) assert np.all(np.isclose(rotm, rotm_gt))
def test_x90(self): q = euldeg2quat(90, 0, 0) rotm_gt = euldeg2rotm(90, 0, 0) rotm = quat2rotm(q) assert np.all(np.isclose(rotm, rotm_gt))
def test_identity(self): q = euldeg2quat(0, 0, 0) rotm_gt = euldeg2rotm(0, 0, 0) rotm = quat2rotm(q) assert np.all(np.isclose(rotm, rotm_gt))
def test_z180(self): R = euldeg2rotm(0, 0, 180) quat = rotm2quat(R) quat_gt = np.zeros(4) quat_gt[3] = 1 assert np.all(np.isclose(quat, quat_gt))