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_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)
