def test_compare(self):
dkear, rot1 = findrotation_kearsley(self.x1, self.x2, align_com=True)
dkab, rot2 = kabsch_wrap(self.x1, self.x2, align_com=True)
qkear = mx2q(rot1)
qkab = mx2q(rot2)
self.assertAlmostEqual(dkear, dkab, places=4)
assert_arrays_almost_equal(self, qkear, qkab)
def test_compare(self):
dkear, rot1 = findrotation_kearsley(self.x1, self.x2, align_com=True)
dkab, rot2 = kabsch_wrap(self.x1, self.x2, align_com=True)
qkear = mx2q(rot1)
qkab = mx2q(rot2)
self.assertAlmostEqual(dkear, dkab, places=4)
assert_arrays_almost_equal(self, qkear, qkab)
def test_mx2q_fork3(self):
mx = np.array([[-0.44019684, -0.78441865, -0.43693721],
[-0.70029416, -0.00463489, 0.71383934],
[-0.56197405, 0.6202144 , -0.54728353]])
qtrue = np.array([ 0.04439801, -0.52719104, 0.70406773, 0.4736951 ])
q = rotations.mx2q(mx)
self.arrays_equal(q, qtrue, 3)
def test_mx2q_fork2(self):
mx = np.array([[ 0.60801609, -0.66494404, 0.43378088],
[ 0.02750384, -0.52840591, -0.84854625],
[ 0.79344815, 0.52786041, -0.30299078]])
qtrue = -np.array([-0.44063006, -0.78093098, 0.20406419, -0.39287372])
q = rotations.mx2q(mx)
self.arrays_equal(q, qtrue, 3)
def test_mx2q_fork1(self):
mx = np.array([[ 0.84678162, 0.50684295, 0.16146551],
[-0.01866944, -0.27503628, 0.96125257],
[ 0.53161296, -0.81698548, -0.2234332 ]])
qtrue = -np.array([-0.58058422, 0.76571063, 0.15938577, 0.22628603])
q = rotations.mx2q(mx)
self.arrays_equal(q, qtrue, 3)
def test_mx2q_fork4(self):
mx = np.array([[-0.16802893, -0.42028749, -0.89169765],
[ 0.71301072, -0.67644975, 0.18447614],
[-0.68072167, -0.60479265, 0.41333261]])
qtrue = np.array([ 0.37711203, -0.52323231, -0.13986293, 0.75130075])
q = rotations.mx2q(mx)
self.arrays_equal(q, qtrue)
def test_mx2q_fork3(self):
mx = np.array([[-0.44019684, -0.78441865, -0.43693721],
[-0.70029416, -0.00463489, 0.71383934],
[-0.56197405, 0.6202144, -0.54728353]])
qtrue = np.array([0.04439801, -0.52719104, 0.70406773, 0.4736951])
q = rotations.mx2q(mx)
self.arrays_equal(q, qtrue, 3)
def test_mx2q_fork2(self):
mx = np.array([[0.60801609, -0.66494404, 0.43378088],
[0.02750384, -0.52840591, -0.84854625],
[0.79344815, 0.52786041, -0.30299078]])
qtrue = -np.array([-0.44063006, -0.78093098, 0.20406419, -0.39287372])
q = rotations.mx2q(mx)
self.arrays_equal(q, qtrue, 3)
def test_mx2q_fork1(self):
mx = np.array([[0.84678162, 0.50684295, 0.16146551],
[-0.01866944, -0.27503628, 0.96125257],
[0.53161296, -0.81698548, -0.2234332]])
qtrue = -np.array([-0.58058422, 0.76571063, 0.15938577, 0.22628603])
q = rotations.mx2q(mx)
self.arrays_equal(q, qtrue, 3)
def test_mx2q_fork4(self):
mx = np.array([[-0.16802893, -0.42028749, -0.89169765],
[0.71301072, -0.67644975, 0.18447614],
[-0.68072167, -0.60479265, 0.41333261]])
qtrue = np.array([0.37711203, -0.52323231, -0.13986293, 0.75130075])
q = rotations.mx2q(mx)
self.arrays_equal(q, qtrue)
def test_mx2q(self):
mx = np.array(range(9)).reshape([3,3])
qnew = rotations.mx2q(mx)
print repr(qnew)
qtrue = np.array([ 1.80277564, 0.2773501 , -0.5547002 , 0.2773501 ])
for v1, v2 in izip(qnew, qtrue):
self.assertAlmostEqual(v1, v2, 4)
def mx2aa(m):
return q2aa(mx2q(m))
def mx2aa(m):
return q2aa(mx2q(m))
def getAlignRotation(XA, XB):
print "WARNING: getAlignRotation is obsolete, use find_rotation"
return rotations.mx2q(findrotation(XA, XB))
