def test_default_seq(self):
quat = dcs.quat_from_euler(self.a)
temp = dcs.quat_mult(
dcs.quat_mult(dcs.qrot(3, self.a[0]), dcs.qrot(1, self.a[1])),
dcs.qrot(2, self.a[2]))
np.testing.assert_array_almost_equal(quat, temp)
self.assertEqual(quat.ndim, 1)
def setUp(self):
self.q1_inp = dcs.qrot(1, np.pi/2)
self.q1_out = np.array([-np.sqrt(2)/2, 0, 0, np.sqrt(2)/2])
self.q2_inp = dcs.qrot(2, np.pi/3)
self.q2_out = np.array([0, -0.5, 0, np.sqrt(3)/2])
self.q3_inp = np.column_stack((self.q1_inp, self.q2_inp))
self.q3_out = np.column_stack((self.q1_out, self.q2_out))
self.null = np.array([])
self.null_quat = np.ones((dcs.QUAT_SIZE, 0))
def setUp(self):
self.q1_inp = dcs.qrot(1, np.pi / 2)
self.q1_out = np.array([-np.sqrt(2) / 2, 0, 0, np.sqrt(2) / 2])
self.q2_inp = dcs.qrot(2, np.pi / 3)
self.q2_out = np.array([0, -0.5, 0, np.sqrt(3) / 2])
self.q3_inp = np.column_stack((self.q1_inp, self.q2_inp))
self.q3_out = np.column_stack((self.q1_out, self.q2_out))
self.null = np.array([])
self.null_quat = np.ones((dcs.QUAT_SIZE, 0))
def setUp(self):
self.quat1 = np.array([0.5, 0.5, 0.5, 0.5])
self.dq1 = dcs.qrot(1, 0.001)
self.dq2 = dcs.qrot(2, 0.05)
self.dqq1 = dcs.quat_mult(self.dq1, self.quat1)
self.dqq2 = dcs.quat_mult(self.dq2, self.quat1)
self.theta = np.array([0.001, 0.05])
self.comp = np.array([[0.001, 0], [0, 0.05], [0, 0]])
self.null = np.array([])
self.null_quat = np.zeros((4, 0))
def setUp(self):
self.quat1 = np.array([0.5, 0.5, 0.5, 0.5])
self.dq1 = dcs.qrot(1, 0.001)
self.dq2 = dcs.qrot(2, 0.05)
self.dqq1 = dcs.quat_mult(self.dq1, self.quat1)
self.dqq2 = dcs.quat_mult(self.dq2, self.quat1)
self.theta = np.array([0.001, 0.05])
self.comp = np.array([[0.001, 0], [0, 0.05], [0, 0]])
self.null = np.array([])
self.null_quat = np.zeros((4, 0))
def setUp(self):
self.q1 = dcs.qrot(1, np.pi/2)
self.q2 = dcs.qrot(2, -np.pi)
self.q3 = dcs.qrot(3, np.pi/3)
self.q4 = np.array([ 0, -np.sqrt(2)/2, np.sqrt(2)/2, 0]) # q1*q2
self.q5 = np.array([0.5, -np.sqrt(3)/2, 0, 0]) # q2*q3
self.q6 = np.array([0.5, 0.5, 0.5, 0.5]) # q6 * q6 = q6**-1, and triggers negative scalar component
self.q_array_in1 = np.column_stack((self.q1, self.q2))
self.q_array_in2 = np.column_stack((self.q2, self.q3))
self.q_array_out = np.column_stack((self.q4, self.q5))
self.null = np.array([])
self.null_quat = np.ones((dcs.QUAT_SIZE, 0))
def setUp(self):
self.q1 = dcs.qrot(1, np.pi / 2)
self.q2 = dcs.qrot(2, -np.pi)
self.q3 = dcs.qrot(3, np.pi / 3)
self.q4 = np.array([0, -np.sqrt(2) / 2, np.sqrt(2) / 2, 0]) # q1*q2
self.q5 = np.array([0.5, -np.sqrt(3) / 2, 0, 0]) # q2*q3
self.q6 = np.array(
[0.5, 0.5, 0.5,
0.5]) # q6 * q6 = q6**-1, and triggers negative scalar component
self.q_array_in1 = np.column_stack((self.q1, self.q2))
self.q_array_in2 = np.column_stack((self.q2, self.q3))
self.q_array_out = np.column_stack((self.q4, self.q5))
self.null = np.array([])
self.null_quat = np.ones((dcs.QUAT_SIZE, 0))
def test_all_vector_inputs(self):
quat = dcs.qrot(self.axis,
np.array([self.angle, self.angle, self.angle2]))
np.testing.assert_array_almost_equal(
quat,
np.column_stack(
(self.quat[0, :], self.quat[1, :], self.quat2[2, :])))
def setUp(self):
self.time = np.array([1, 3, 5])
self.quat = np.column_stack(
(dcs.qrot(1, 0), dcs.qrot(1, np.pi / 2), dcs.qrot(1, np.pi)))
self.ti = np.array([1, 2, 4.5, 5])
self.qout = np.column_stack(
(dcs.qrot(1, 0), dcs.qrot(1, np.pi / 4),
dcs.qrot(1, 3.5 / 4 * np.pi), dcs.qrot(1, np.pi)))
self.ti_extra = np.array([0, 1, 2, 4.5, 5, 10])
def test_null2(self):
quat = dcs.qrot(self.null, self.angle)
np.testing.assert_array_almost_equal(quat, self.null_quat)
def test_null1(self):
quat = dcs.qrot(self.axis[0], self.null)
np.testing.assert_array_almost_equal(quat, self.null_quat)
def test_default_seq(self):
quat = dcs.quat_from_euler(self.a)
temp = dcs.quat_mult(dcs.quat_mult(dcs.qrot(3, self.a[0]), dcs.qrot(1, self.a[1])), dcs.qrot(2, self.a[2]))
np.testing.assert_array_almost_equal(quat, temp)
self.assertEqual(quat.ndim, 1)
def test_single2(self):
quat1 = dcs.quat_from_euler(0.01, 3)
quat2 = dcs.qrot(3, 0.01)
np.testing.assert_array_almost_equal(quat1, quat2)
self.assertEqual(quat1.ndim, 1)
def test_short(self):
quat1 = dcs.quat_from_euler(self.a[0:2], self.seq[0:2])
quat2 = dcs.quat_mult(dcs.qrot(self.seq[0], self.a[0]),
dcs.qrot(self.seq[1], self.a[1]))
np.testing.assert_array_almost_equal(quat1, quat2)
self.assertEqual(quat1.ndim, 1)
def test_single_angle(self):
quat = dcs.qrot(self.axis, self.angle)
self.assertEqual(quat.ndim, 2)
np.testing.assert_array_almost_equal(quat, self.quat.T)
def test_null2(self):
quat = dcs.qrot(self.null, self.angle)
np.testing.assert_array_almost_equal(quat, self.null_quat)
def setUp(self):
self.time = np.array([1, 3, 5])
self.quat = np.column_stack((dcs.qrot(1, 0), dcs.qrot(1, np.pi/2), dcs.qrot(1, np.pi)))
self.ti = np.array([1, 2, 4.5, 5])
self.qout = np.column_stack((dcs.qrot(1, 0), dcs.qrot(1, np.pi/4), dcs.qrot(1, 3.5/4*np.pi), dcs.qrot(1, np.pi)))
self.ti_extra = np.array([0, 1, 2, 4.5, 5, 10])
def test_single2(self):
quat1 = dcs.quat_from_euler(0.01, 3)
quat2 = dcs.qrot(3, 0.01)
np.testing.assert_array_almost_equal(quat1, quat2)
self.assertEqual(quat1.ndim, 1)
def test_single1(self):
quat1 = dcs.quat_from_euler(self.a[0], self.seq[0])
quat2 = dcs.qrot(self.seq[0], self.a[0])
np.testing.assert_array_almost_equal(quat1, quat2)
self.assertEqual(quat1.ndim, 1)
def test_short(self):
quat1 = dcs.quat_from_euler(self.a[0:2], self.seq[0:2])
quat2 = dcs.quat_mult(dcs.qrot(self.seq[0], self.a[0]), dcs.qrot(self.seq[1], self.a[1]))
np.testing.assert_array_almost_equal(quat1, quat2)
self.assertEqual(quat1.ndim, 1)
def test_repeated(self):
quat1 = dcs.quat_from_euler(np.hstack((self.a, self.a)), seq=np.array([1, 1, 1, 1, 1, 1]))
quat2 = dcs.qrot(1, 2*np.sum(self.a))
np.testing.assert_array_almost_equal(quat1, quat2)
self.assertEqual(quat1.ndim, 1)
def test_vector_mismatch(self):
with self.assertRaises(AssertionError):
dcs.qrot(self.axis, np.array([self.angle, self.angle2]))
def test_all_vector_inputs(self):
quat = dcs.qrot(self.axis, np.array([self.angle, self.angle, self.angle2]))
np.testing.assert_array_almost_equal(quat, np.column_stack((self.quat[0,:], self.quat[1,:], self.quat2[2,:])))
def test_null1(self):
quat = dcs.qrot(self.axis[0], self.null)
np.testing.assert_array_almost_equal(quat, self.null_quat)
def test_repeated(self):
quat1 = dcs.quat_from_euler(np.hstack((self.a, self.a)),
seq=np.array([1, 1, 1, 1, 1, 1]))
quat2 = dcs.qrot(1, 2 * np.sum(self.a))
np.testing.assert_array_almost_equal(quat1, quat2)
self.assertEqual(quat1.ndim, 1)
def test_single_axis(self):
for i in range(len(self.axis)):
quat = dcs.qrot(self.axis[i], np.array([self.angle, self.angle2]))
self.assertEqual(quat.ndim, 2)
np.testing.assert_array_almost_equal(quat, np.column_stack((self.quat[i, :], self.quat2[i, :])))
def test_single1(self):
quat1 = dcs.quat_from_euler(self.a[0], self.seq[0])
quat2 = dcs.qrot(self.seq[0], self.a[0])
np.testing.assert_array_almost_equal(quat1, quat2)
self.assertEqual(quat1.ndim, 1)
def test_single_axis(self):
for i in range(len(self.axis)):
quat = dcs.qrot(self.axis[i], np.array([self.angle, self.angle2]))
self.assertEqual(quat.ndim, 2)
np.testing.assert_array_almost_equal(
quat, np.column_stack((self.quat[i, :], self.quat2[i, :])))
def test_single_angle(self):
quat = dcs.qrot(self.axis, self.angle)
self.assertEqual(quat.ndim, 2)
np.testing.assert_array_almost_equal(quat, self.quat.T)
def test_vector_mismatch(self):
with self.assertRaises(AssertionError):
dcs.qrot(self.axis, np.array([self.angle, self.angle2]))
def test_single_inputs(self):
for i in range(len(self.axis)):
quat = dcs.qrot(self.axis[i], self.angle)
self.assertEqual(quat.ndim, 1)
np.testing.assert_array_almost_equal(quat, self.quat[i, :])
def test_single_inputs(self):
for i in range(len(self.axis)):
quat = dcs.qrot(self.axis[i], self.angle)
self.assertEqual(quat.ndim, 1)
np.testing.assert_array_almost_equal(quat, self.quat[i, :])
