def test_init_rot_vec_invalid_list(self):
"""Tests orientation init with invalid rotation vector list.
"""
rot_vec = self.rotation_vector(90).tolist()
rot_vec = [rot_vec[0], rot_vec[1], [rot_vec[2]]]
with pytest.raises(ValueError):
Orientation(rot_vec)
def test_init_empty(self):
"""Tests that the default constructor returns an identity quaternion.
"""
ori = Orientation()
actual = ori._quat
expected = UnitQuaternion()
assert actual == expected
def test_init_axisang_valid_ndarray_float(self):
"""Test orientation with valid axis-angle (ndarray, float).
"""
expected_axis, expected_theta = self.axis_angle_vector(90)
ori = Orientation(expected_axis, expected_theta)
actual_axis, actual_theta = ori._quat.axis_angle
assert np.allclose(actual_axis, expected_axis) and np.isclose(
actual_theta, expected_theta)
def test_quaternion_rot_from_to_vec_identity(self):
"""Tests the quaternion that rotates a vector to itself.
Should return the indentity quaternion [1, 0, 0, 0].
"""
x = np.array([1, 0, 0])
quat = Orientation.from_vecs(x, x).quat
assert quat.is_identity()
def test_quaternion_rot_from_to_quat(self):
"""Tests the quaternion that rotates `from_quat` to `to_quat`.
"""
quat_from = UnitQuaternion.random()
quat_to = UnitQuaternion.random()
rotation = Orientation.from_quats(quat_from, quat_to)
actual = (rotation * quat_from).quat
expected = quat_to
assert actual == expected
def test_init_rot_vec_valid_list(self):
"""Tests orientation init with rotation vector list.
"""
rot_vec = self.rotation_vector(90).tolist()
ori = Orientation(rot_vec)
actual_axis, actual_theta = ori._quat.axis_angle
expected_axis, expected_theta = np.array([0, 0, 1]), np.deg2rad(90)
assert np.allclose(actual_axis, expected_axis) and np.isclose(
actual_theta, expected_theta)
def test_quaternion_rot_from_to_vec_random(self):
"""Tests the quaternion that rotates a vector to another.
"""
x = np.random.randn(3)
quat = UnitQuaternion.random()
y = quat * x
expected = y
actual = Orientation.from_vecs(x, y) * x
assert np.allclose(actual, expected)
def test_init_axisang_invalid(self):
"""Test orientation with invalid axis-angle initialization.
"""
with pytest.raises(ValueError):
Orientation([1, 2, 3, 4], 0)
def test_init_rot_vec_invalid_arr(self):
"""Tests orientation init with invalid rotation vector ndarray.
"""
rot_vec = np.random.randn(4)
with pytest.raises(ValueError):
Orientation(rot_vec)
