def testEuler(): ''' Test some euler conversions ''' quat = transformations.random_quaternion() pos = np.random.rand(3) frame = transformUtils.transformFromPose(pos, quat) mat = transformUtils.getNumpyFromTransform(frame) rpy = transformUtils.rollPitchYawFromTransform(frame) rpy2 = transformations.euler_from_matrix(mat) print rpy print rpy2 assert np.allclose(rpy, rpy2)
def testEulerToFrame(): ''' Test some euler converions ''' rpy = transformations.euler_from_quaternion( transformations.random_quaternion()) frame = transformUtils.frameFromPositionAndRPY([0, 0, 0], np.degrees(rpy)) mat = transformUtils.getNumpyFromTransform(frame) mat2 = transformations.euler_matrix(rpy[0], rpy[1], rpy[2]) print mat print mat2 assert np.allclose(mat, mat2)
def testTransform(): ''' test transformFromPose --> getAxesFromTransform is same as quat --> matrix ''' quat = transformations.random_quaternion() pos = np.random.rand(3) frame = transformUtils.transformFromPose(pos, quat) axes = transformUtils.getAxesFromTransform(frame) mat = transformUtils.getNumpyFromTransform(frame) assert np.allclose(mat[:3, :3], np.array(axes).transpose()) mat2 = transformations.quaternion_matrix(quat) mat2[:3, 3] = pos print mat print mat2 assert np.allclose(mat, mat2)