def test_random(self):
""" Test that rotation_matrix() returns a valid rotation matrix
for random axes and angles """
axis = np.random.random((3,))
angle = np.random.random()
mat = tr.rotation_matrix(angle, axis)
self.assertTrue(tr.is_rotation_matrix(mat))
def test_trivial(self):
""" Test that a translation_rotation_matrix() reduces to rotation_matrix()
for zero translation """
axis = np.random.random((3,))
angle = np.random.random()
mat = tr.translation_rotation_matrix(angle, axis, translation=[0, 0, 0])
self.assertTrue(tr.is_rotation_matrix(mat))
def test_trivial(self):
""" test that the identity matrix is a rotation matrix """
self.assertTrue(tr.is_rotation_matrix(np.eye(3)))
self.assertTrue(tr.is_rotation_matrix(np.eye(4)))
def test_from_rotation_matrix(self):
""" test that the rotated identity operator is
a rotation matrix"""
self.assertTrue(
tr.is_rotation_matrix(tr.rotation_matrix(np.pi / 3, axis=[0, 0, 1]))
)
def test_is_rotation_matrix_trivial():
""" test that the identity matrix is a rotation matrix """
assert tr.is_rotation_matrix(np.eye(3))
assert tr.is_rotation_matrix(np.eye(4))