def test_rotation_matrix_conversions(self):
"""
Bidirectional rotor - rotation matrix test. This needs work but is a reasonable start
"""
from clifford.g3c import layout
from clifford.tools.g3 import rotation_matrix_to_rotor, rotor_to_rotation_matrix
e1 = layout.blades['e1']
e2 = layout.blades['e2']
rotor = e1 * e2
print(rotor)
matrix = rotor_to_rotation_matrix(rotor)
print(matrix)
rotor_return = rotation_matrix_to_rotor(matrix)
print(rotor_return)
testing.assert_almost_equal(rotor.value, rotor_return.value)
def test_rotation_matrix_conversions(self):
"""
Bidirectional rotor - rotation matrix test. This needs work but is a reasonable start
"""
from clifford.g3c import layout, up, down
from clifford.tools.g3 import rotation_matrix_to_rotor, rotor_to_rotation_matrix
from clifford.tools.g3c import random_rotation_rotor, random_conformal_point, apply_rotor
for i in range(1000):
rotor = random_rotation_rotor()
# Check that we can map up and back
Rmat = rotor_to_rotation_matrix(rotor)
rotor_return = rotation_matrix_to_rotor(Rmat)
testing.assert_almost_equal(rotor.value, rotor_return.value)
# Check that the rotations do the same thing
A = random_conformal_point()
B = down(apply_rotor(A, rotor)).value[1:4]
C = Rmat @ down(A).value[1:4]
np.testing.assert_almost_equal(B, C)
def test_rotation_matrix_conversions(self):
"""
Bidirectional rotor - rotation matrix test. This needs work but is a reasonable start
"""
from clifford.g3c import layout, up, down
from clifford.tools.g3 import rotation_matrix_to_rotor, rotor_to_rotation_matrix
from clifford.tools.g3c import random_rotation_rotor, random_conformal_point, apply_rotor
for i in range(1000):
rotor = random_rotation_rotor()
# Check that we can map up and back
Rmat = rotor_to_rotation_matrix(rotor)
rotor_return = rotation_matrix_to_rotor(Rmat)
testing.assert_almost_equal(rotor.value, rotor_return.value)
# Check that the rotations do the same thing
A = random_conformal_point()
B = down(apply_rotor(A, rotor)).value[1:4]
C = Rmat @ down(A).value[1:4]
np.testing.assert_almost_equal(B, C)