def testOrientationFilters():
for i in range(3):
t = np.arange(0, 10, dt)
trajectory = RandomRotationTrajectory(t)
for imp in getImplementations(orientation,
orientation.OrientationFilter):
params = filterParameters.get(imp, {})
filter = imp(
initialTime=trajectory.startTime,
initialRotation=trajectory.rotation(trajectory.startTime),
initialRotationalVelocity=trajectory.rotation(trajectory.startTime)
.rotateFrame(trajectory.rotationalVelocity(trajectory.startTime)),
**params)
yield checkOrientationFilter, filter, trajectory
def testOrientationFilters():
for i in range(3):
t = np.arange(0, 10, dt)
trajectory = RandomRotationTrajectory(t)
for imp in getImplementations(orientation,
orientation.OrientationFilter):
params = filterParameters.get(imp, {})
filter = imp(
initialTime=trajectory.startTime,
initialRotation=trajectory.rotation(trajectory.startTime),
initialRotationalVelocity=trajectory.rotation(
trajectory.startTime).rotateFrame(
trajectory.rotationalVelocity(trajectory.startTime)),
**params)
yield checkOrientationFilter, filter, trajectory
def testDynamicConvergence():
for i in range(3):
t = np.arange(0, 10, dt)
trajectory = RandomRotationTrajectory(t)
for imp in getImplementations(orientation,
orientation.OrientationFilter):
params = filterParameters.get(imp, {})
filter = imp(initialRotation=Quaternion(),
initialTime=trajectory.startTime,
initialRotationalVelocity=trajectory.rotation(trajectory.startTime)
.rotateFrame(trajectory.rotationalVelocity(trajectory.startTime)),
**params)
if imp not in [orientation.GyroIntegrator, orientation.DistLinAccelCF]:
yield checkDynamicConvergence, filter, trajectory
def testDynamicConvergence():
for i in range(3):
t = np.arange(0, 10, dt)
trajectory = RandomRotationTrajectory(t)
for imp in getImplementations(orientation,
orientation.OrientationFilter):
params = filterParameters.get(imp, {})
filter = imp(initialRotation=Quaternion(),
initialTime=trajectory.startTime,
initialRotationalVelocity=trajectory.rotation(
trajectory.startTime).rotateFrame(
trajectory.rotationalVelocity(
trajectory.startTime)),
**params)
if imp not in [
orientation.GyroIntegrator, orientation.DistLinAccelCF
]:
yield checkDynamicConvergence, filter, trajectory