def test_create_from_axis_rotation_non_normalized(self):
result = quaternion.create_from_axis_rotation([1., 1., 1.], np.pi)
np.testing.assert_almost_equal(
result,
[5.77350000e-01, 5.77350000e-01, 5.77350000e-01, 6.12323400e-17],
decimal=3)
self.assertTrue(result.dtype == np.float)
def test_create_from_axis_rotation(self):
# wolfram alpha can be awesome sometimes
result = quaternion.create_from_axis_rotation(
[0.57735, 0.57735, 0.57735], np.pi)
np.testing.assert_almost_equal(
result,
[5.77350000e-01, 5.77350000e-01, 5.77350000e-01, 6.12323400e-17],
decimal=3)
self.assertTrue(result.dtype == np.float)
def compute_geodesic(dst, index, point_a, point_b, num_segments):
"""Given two points on a unit sphere, returns a sequence of surface
points that lie between them along a geodesic curve."""
angle_between_endpoints = acos(dot(point_a, point_b))
rotation_axis = cross(point_a, point_b)
dst[index] = point_a
index = index + 1
if num_segments == 0:
return index
dtheta = angle_between_endpoints / num_segments
for point_index in range(1, num_segments):
theta = point_index * dtheta
q = quaternion.create_from_axis_rotation(rotation_axis, theta)
dst[index] = quaternion.apply_to_vector(q, point_a)
index = index + 1
dst[index] = point_b
return index + 1
def test_create_from_axis_rotation_non_normalized(self):
result = quaternion.create_from_axis_rotation([1., 1., 1.], np.pi)
np.testing.assert_almost_equal(result, [5.77350000e-01, 5.77350000e-01, 5.77350000e-01, 6.12323400e-17], decimal=3)
self.assertTrue(result.dtype == np.float)
def test_create_from_axis_rotation(self):
# wolfram alpha can be awesome sometimes
result = quaternion.create_from_axis_rotation([0.57735, 0.57735, 0.57735], np.pi)
np.testing.assert_almost_equal(result, [5.77350000e-01, 5.77350000e-01, 5.77350000e-01, 6.12323400e-17], decimal=3)
self.assertTrue(result.dtype == np.float)
