def test_rotation2d_from_vector():
theta = np.pi / 2
h**o = np.array([[0.0, -1.0, 0.0],
[1.0, 0.0, 0.0],
[0.0, 0.0, 1.0]], dtype=np.float64)
tr = Rotation2D.identity().from_vector(theta)
assert_allclose(tr.h_matrix, h**o, atol=1**-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_rotation2d_identity():
assert_allclose(Rotation2D.identity().h_matrix, np.eye(3))
