def test_random_near():
q = Quaternion()
for _ in range(5):
q_near = q.random_near(0.11)
assert quat_distance(q, q_near) <= 0.11
assert np.any(np.not_equal(q.rotation_matrix, q_near.rotation_matrix))
for _ in range(5):
q_near = q.random_near(0.01)
assert quat_distance(q, q_near) <= 0.01
assert np.any(np.not_equal(q.rotation_matrix, q_near.rotation_matrix))
def test_random_near_large_dist():
q = Quaternion()
for _ in range(5):
q_near = q.random_near(10.0)
assert quat_distance(q, q_near) <= (0.5 * np.pi)
assert np.any(np.not_equal(q.rotation_matrix, q_near.rotation_matrix))