def test_constant_inverse(): rot1_2 = ConstantRotation([1.0 / np.sqrt(2), 0, 0, 1.0 / np.sqrt(2)], 1, 2) rot2_1 = rot1_2.inverse() assert rot2_1.source == 2 assert rot2_1.dest == 1 expected_quats = [1.0 / np.sqrt(2), 0, 0, -1.0 / np.sqrt(2)] np.testing.assert_almost_equal(rot2_1.quat, expected_quats)
def test_constant_inverse(): rot1_2 = ConstantRotation( np.array([1.0 / np.sqrt(2), 0, 0, 1.0 / np.sqrt(2)]), 1, 2) rot2_1 = rot1_2.inverse() assert rot2_1.source == 2 assert rot2_1.dest == 1 np.testing.assert_almost_equal( rot2_1.quat, np.array([1.0 / np.sqrt(2), 0, 0, -1.0 / np.sqrt(2)]))