def test_rt2tr(self):
# 3D
R = rotx(0.2)
t = [3, 4, 5]
T = rt2tr(R, t)
nt.assert_array_almost_equal(t2r(T), R)
nt.assert_array_almost_equal(transl(T), np.array(t))
theta = sym.symbol('theta')
R = rotx(theta)
self.assertEqual(r2t(R).dtype, 'O')
# 2D
R = rot2(0.2)
t = [3, 4]
T = rt2tr(R, t)
nt.assert_array_almost_equal(t2r(T), R)
nt.assert_array_almost_equal(transl2(T), np.array(t))
theta = sym.symbol('theta')
R = rot2(theta)
self.assertEqual(r2t(R).dtype, 'O')
with self.assertRaises(ValueError):
rt2tr(3, 4)
with self.assertRaises(ValueError):
rt2tr(np.eye(3, 4), [1, 2, 3, 4])
def test_r2t(self):
# 3D
R = rotx(0.3)
T = r2t(R)
nt.assert_array_almost_equal(T[0:3, 3], np.r_[0, 0, 0])
nt.assert_array_almost_equal(T[:3, :3], R)
theta = sym.symbol('theta')
R = rotx(theta)
T = r2t(R)
self.assertEqual(r2t(R).dtype, 'O')
nt.assert_array_almost_equal(T[0:3, 3], np.r_[0, 0, 0])
# nt.assert_array_almost_equal(T[:3,:3], R)
self.assertTrue((T[:3, :3] == R).all())
# 2D
R = rot2(0.3)
T = r2t(R)
nt.assert_array_almost_equal(T[0:2, 2], np.r_[0, 0])
nt.assert_array_almost_equal(T[:2, :2], R)
theta = sym.symbol('theta')
R = rot2(theta)
T = r2t(R)
self.assertEqual(r2t(R).dtype, 'O')
nt.assert_array_almost_equal(T[0:2, 2], np.r_[0, 0])
nt.assert_array_almost_equal(T[:2, :2], R)
with self.assertRaises(ValueError):
r2t(3)
with self.assertRaises(ValueError):
r2t(np.eye(3, 4))