def test_expmap_axis_normalization(self): q = Quaternion((1, 1, 0), 2) e = q.to_exponential_map() self.assertAlmostEqual(e.x, 2 * math.sqrt(0.5), 6) self.assertAlmostEqual(e.y, 2 * math.sqrt(0.5), 6) self.assertAlmostEqual(e.z, 0)
def test_expmap_axis_normalization(self): q = Quaternion((1, 1, 0), 2) e = q.to_exponential_map() self.assertAlmostEqual(e.x, 2 * math.sqrt(0.5), 6) self.assertAlmostEqual(e.y, 2 * math.sqrt(0.5), 6) self.assertAlmostEqual(e.z, 0)
def test_to_expmap(self): q = Quaternion((0, 0, 1), math.radians(90)) e = q.to_exponential_map() self.assertAlmostEqual(e.x, 0) self.assertAlmostEqual(e.y, 0) self.assertAlmostEqual(e.z, math.radians(90), 6)
def test_to_expmap(self): q = Quaternion((0, 0, 1), math.radians(90)) e = q.to_exponential_map() self.assertAlmostEqual(e.x, 0) self.assertAlmostEqual(e.y, 0) self.assertAlmostEqual(e.z, math.radians(90), 6)