def test_rotation_matrix():
npt.assert_array_almost_equal(rotmat(rad(30), x), [[[1., 0., 0.],
[0., 0.8660254, -0.5],
[0., 0.5, 0.8660254]]])
npt.assert_array_almost_equal(rotmat(rad(30), y), [[[0.8660254, 0., 0.5],
[0., 1., 0],
[-0.5, 0, 0.8660254]]])
npt.assert_array_almost_equal(rotmat(rad(30), z), [[[0.8660254, -0.5, 0.],
[0.5, 0.8660254, 0],
[0., 0, 1]]])
def test_rotation_matrixes():
npt.assert_array_almost_equal(rotmat([rad(30), rad(60)], 0), [[[1., 0., 0.],
[0., 0.8660254, -0.5],
[0., 0.5, 0.8660254]],
[[1., 0., 0.],
[0., 0.5, -0.8660254, ],
[0., +0.8660254, 0.5]]])
def test_rotate():
x, y, z = 0, 1, 2
v = np.array([1, 2, 3])
npt.assert_array_almost_equal(rotate(rotmat(np.pi / 2, x), v), [1, -3, 2])
npt.assert_array_almost_equal(rotate(rotmat(np.pi, x), v), [1, -2, -3])
npt.assert_array_almost_equal(rotate(rotmat(np.pi / 2, y), v), [3, 2, -1])
npt.assert_array_almost_equal(rotate(rotmat(np.pi, y), v), [-1, 2, -3])
npt.assert_array_almost_equal(rotate(rotmat(np.pi / 2, z), v), [-2, 1, 3])
npt.assert_array_almost_equal(rotate(rotmat(np.pi, z), v), [-1, -2, 3])
v = np.array([[1, 2, 3], [1, 2, 4]])
npt.assert_array_almost_equal(rotate(rotmat([np.pi / 2, -np.pi], x), v)[0], [1, -3, 2])
npt.assert_array_almost_equal(rotate(rotmat([np.pi / 2, -np.pi], x), v)[1], [1, -2, -4])
npt.assert_array_almost_equal(rotate(rotmat([np.pi / 2, np.pi], y), v)[0], [3, 2, -1])
npt.assert_array_almost_equal(rotate(rotmat([np.pi / 2, np.pi], y), v)[1], [-1, 2, -4])
npt.assert_array_almost_equal(rotate(rotmat([np.pi / 2, np.pi], z), v)[0], [-2, 1, 3])
npt.assert_array_almost_equal(rotate(rotmat([np.pi / 2, np.pi], z), v)[1], [-1, -2, 4])