def test_inverse_equivalence(self):
q = [5.77350000e-01, 5.77350000e-01, 5.77350000e-01, 6.12323400e-17]
result = matrix33.create_from_quaternion(quaternion.inverse(q))
expected = matrix33.inverse(matrix33.create_from_quaternion(q))
np.testing.assert_almost_equal(result, expected, decimal=5)
q = quaternion.create_from_x_rotation(0.5)
result = matrix33.create_from_inverse_of_quaternion(q)
expected = matrix33.inverse(matrix33.create_from_quaternion(q))
np.testing.assert_almost_equal(result, expected, decimal=5)
def test_inverse_equivalence(self):
q = [5.77350000e-01, 5.77350000e-01, 5.77350000e-01, 6.12323400e-17]
result = matrix33.create_from_quaternion(quaternion.inverse(q))
expected = matrix33.inverse(matrix33.create_from_quaternion(q))
np.testing.assert_almost_equal(result, expected, decimal=5)
q = quaternion.create_from_x_rotation(0.5)
result = matrix33.create_from_inverse_of_quaternion(q)
expected = matrix33.inverse(matrix33.create_from_quaternion(q))
np.testing.assert_almost_equal(result, expected, decimal=5)
def create_from_inverse_of_quaternion( quat ):
"""Creates a matrix with the inverse rotation of a quaternion.
This can be used to go from object space to intertial space.
:param numpy.array quat: The quaternion to make the matrix from (shape 4).
:rtype: numpy.array
:return: A matrix with shape (4,4) that respresents the inverse of
the quaternion.
"""
# set to identity matrix
# this will populate our extra rows for us
mat = create_identity()
# we'll use Matrix33 for our conversion
mat[ 0:3, 0:3 ] = matrix33.create_from_inverse_of_quaternion( quat )
return mat
def test_create_from_inverse_of_quaternion(self):
q = quaternion.create_from_x_rotation(np.pi / 2.0)
result = matrix33.create_from_inverse_of_quaternion(q)
self.assertTrue(
np.allclose(result, matrix33.create_from_x_rotation(-np.pi / 2.0)))
def test_create_from_inverse_of_quaternion(self):
q = quaternion.create_from_x_rotation(np.pi / 2.0)
result = matrix33.create_from_inverse_of_quaternion(q)
self.assertTrue(np.allclose(result, matrix33.create_from_x_rotation(-np.pi / 2.0)))
