def test_rigid_transform_apply_known_values(self):
"""
RigidTransform should return known result with known input for rigid
transformations.
"""
src = RIGID_KNOWN_VALUES[0][-1]
for rotation, _, _, translation, dst in RIGID_KNOWN_VALUES:
tform = RigidTransform(rotation=rotation, translation=translation)
numpy.testing.assert_array_almost_equal(dst, tform.apply(src))
def test_rigid_transform_from_pointset_known_values(self):
"""
RigidTransform.from_pointset should return known result with known
input for rigid transformations.
"""
src = RIGID_KNOWN_VALUES[0][-1]
for rotation, _, _, translation, dst in RIGID_KNOWN_VALUES:
tform = RigidTransform.from_pointset(src, dst)
self.assertAlmostEqual(0., _angle_diff(rotation, tform.rotation))
numpy.testing.assert_array_almost_equal(translation, tform.translation)
def test_rigid_transform_matrix_known_values(self):
for rotation, _, _, _, _ in RIGID_KNOWN_VALUES:
tform = RigidTransform(rotation=rotation)
matrix = _rotation_matrix_from_angle(rotation)
numpy.testing.assert_array_almost_equal(matrix, tform.transformation_matrix)