def test_basic_2d_rotation_axis_angle():
rotation_matrix = np.array([[0, 1],
[-1, 0]])
rotation = Rotation(rotation_matrix)
axis, angle = rotation.axis_and_angle_of_rotation()
assert_allclose(axis, np.array([0, 0, 1]))
assert_allclose((90 * np.pi)/180, angle)
def test_basic_3d_rotation_axis_angle():
a = np.sqrt(3.0)/2.0
b = 0.5
# this is a rotation of -30 degrees about the x axis
rotation_matrix = np.array([[1, 0, 0],
[0, a, b],
[0, -b, a]])
rotation = Rotation(rotation_matrix)
axis, angle = rotation.axis_and_angle_of_rotation()
assert_allclose(axis, np.array([1, 0, 0]))
assert_allclose((-30 * np.pi)/180, angle)
def test_basic_3d_rotation():
a = np.sqrt(3.0)/2.0
b = 0.5
# this is a rotation of -30 degrees about the x axis
rotation_matrix = np.array([[1, 0, 0],
[0, a, b],
[0, -b, a]])
rotation = Rotation(rotation_matrix)
starting_vector = np.array([0, 1, 0])
transformed = rotation.apply(starting_vector)
assert_allclose(np.array([0, a, -b]), transformed)
def test_3d_rotation_inverse_eye():
a = np.sqrt(3.0)/2.0
b = 0.5
# this is a rotation of -30 degrees about the x axis
rotation_matrix = np.array([[1, 0, 0],
[0, a, b],
[0, -b, a]])
rotation = Rotation(rotation_matrix)
transformed = rotation.compose_before(rotation.inverse)
print transformed.h_matrix
assert_allclose(np.eye(4), transformed.h_matrix, atol=1e-15)
def test_align_2d_rotation():
rotation_matrix = np.array([[0, 1],
[-1, 0]])
rotation = Rotation(rotation_matrix)
source = PointCloud(np.array([[0, 1],
[1, 1],
[-1, -5],
[3, -5]]))
target = rotation.apply(source)
# estimate the transform from source and target
estimate = Rotation2D.align(source, target)
# check the estimates is correct
assert_allclose(rotation.h_matrix,
estimate.h_matrix, atol=1e-14)
def test_basic_2d_rotation():
rotation_matrix = np.array([[0, 1],
[-1, 0]])
rotation = Rotation(rotation_matrix)
assert_allclose(np.array([0, -1]), rotation.apply(np.array([1, 0])))