def test_flip_gamma(self):
flip = np.eye(3)
flip[0,0] = -1
flip[1,1] = -1
rot_alpha, rot_beta, rot_gamma = 0., 0., math.pi
matrix = cm.euler_rotation_matrix(rot_alpha, rot_beta, rot_gamma)
delta = np.abs(matrix - flip)
self.assertTrue(delta.max() < 1e-5, "%s !=\n %s" % (matrix, flip))
def test_quarter_rotate_beta_gamma(self):
flip = np.array([[0., -1., 0.],
[0., 0., -1.],
[1., 0., 0.]])
rot_alpha, rot_beta, rot_gamma = 0., math.pi/2., math.pi/2
matrix = cm.euler_rotation_matrix(rot_alpha, rot_beta, rot_gamma)
delta = np.abs(matrix - flip)
self.assertTrue(delta.max() < 1e-5, "%s !=\n %s" % (matrix, flip))
def test_rotation_orthogonal(self):
eye = np.eye(3)
for count in xrange(100):
(rot_alpha, rot_beta, rot_gamma) = [random.random() * 2 * math.pi for i in xrange(3)]
matrix = cm.euler_rotation_matrix(rot_alpha, rot_beta, rot_gamma)
product = np.dot(matrix, matrix.transpose())
delta = np.abs(product - eye)
self.assertTrue(delta.max() < 1e-5)