def test_1(self):
q = spw.Matrix([0., 0., 0.14943813, 0.98877108])
r1 = spw.rotation3_quaternion(*q)
r1 = np.asarray(r1.tolist()).reshape(r1.shape)
r_goal = quaternion_matrix(q)
np.testing.assert_array_almost_equal(r1, r_goal)
def get_rotation(self):
return spw.rotation3_quaternion(*self._symbol_map.values()[:4])
def get_expression(self):
return spw.rotation3_quaternion(*self._symbol_map.values())