Python angle_between_quatsの例

コード例 #1

def _check_state_expected(s1, s2, expected: ExpectedDelta):
    assert np.linalg.norm(s2.position - s1.position -
                          expected.delta_pos) < 1e-5
    assert (angle_between_quats(s2.rotation * expected.delta_rot.inverse(),
                                s1.rotation) < 1e-5)

コード例 #2

def _check_state_same(s1, s2):
    assert np.allclose(s1.position, s2.position)
    assert angle_between_quats(s1.rotation, s2.rotation) < 1e-5