def test_quaternion_to_angle_axis_to_quaternion():
"""Test quaternion_to_angle_axis and reverse for consistency."""
n = 1000
orientations = generate.get_random_quat(n)
for i in range(n):
orientation = orientations[i]
theta, axis = convert.quaternion_to_angle_axis(orientation)
quat = convert.angle_axis_to_quaternion(axis, theta)
assert np.allclose(orientation, quat) \
or np.allclose(orientation, -quat)
def test_angle_axis_to_quaternion_z_name():
"""Test angle_axis_to_quaternion for 90deg rotations along z, by name."""
# Caps should work too
quat = convert.angle_axis_to_quaternion('Z', np.pi / 2)
assert np.allclose(quat, cst.quatz90)
def test_angle_axis_to_quaternion_y_name():
"""Test angle_axis_to_quaternion for 90deg rotations along y, by name."""
quat = convert.angle_axis_to_quaternion('y', np.pi / 2)
assert np.allclose(quat, cst.quaty90)
def test_angle_axis_to_quaternion_z():
"""Test angle_axis_to_quaternion for 90deg rotations along z."""
quat = convert.angle_axis_to_quaternion(cst.vecz, np.pi / 2)
assert np.allclose(quat, cst.quatz90)
def test_angle_axis_to_quaternion_z():
"""Test angle_axis_to_quaternion for 90deg rotations along z."""
axis = np.array([0., 0., 1.])
theta = np.pi / 2
quat = convert.angle_axis_to_quaternion(axis, theta)
assert np.allclose(quat, quatz90)
def test_angle_axis_to_quaternion_x_name():
"""Test angle_axis_to_quaternion for 90deg rotations along x, by name."""
theta = np.pi / 2
quat = convert.angle_axis_to_quaternion('x', theta)
assert np.allclose(quat, quatx90)
