def test_norm(self):
"""Test quaternion norm."""
np.random.seed(0)
shapes = [(4,), (5, 4), (5, 5, 4), (5, 5, 5, 4)]
for shape in shapes:
quats = np.random.random_sample(shape)
norms = np.linalg.norm(quats, axis=-1)
self.assertTrue(np.all(rowan.norm(quats) == norms))
def test_random_sample(self):
"""Generation with tuple"""
s = (3, 4)
np.random.seed(0)
q = random.random_sample(s)
self.assertTrue(q.shape == s + (4, ))
self.assertTrue(np.allclose(norm(q), 1))
q = random.random_sample()
self.assertTrue(q.shape == (4, ))
def test_random(self):
"""Generation from various args"""
s = (3, 4)
np.random.seed(0)
q = random.rand(s[0], s[1])
self.assertTrue(q.shape == s + (4, ))
self.assertTrue(np.allclose(norm(q), 1))
q = random.rand()
self.assertTrue(q.shape == (4, ))
def test_inverse(self):
"""Test quaternion inverse."""
np.random.seed(0)
shapes = [(4,), (5, 4), (5, 5, 4), (5, 5, 5, 4)]
for shape in shapes:
quats = np.random.random_sample(shape)
quats_conj = quats.copy()
quats_conj[..., 1:] *= -1
quats_conj /= rowan.norm(quats)[..., np.newaxis] ** 2
self.assertTrue(np.allclose(rowan.inverse(quats), quats_conj))