def test2_jac_kinematic_angular_eqs():
time = 0
euler_angles = np.array([0, np.pi / 2, 0])
angular_vel = np.array([0, 1, 0], dtype=float)
expected_sol = np.zeros([3, 3], dtype=float)
expected_sol[0, 1] = - 1
expected_sol[1, 0] = 1
sol = jac_kinematic_angular_eqs(time, euler_angles, angular_vel)
assert(np.allclose(expected_sol, sol))
def test2_jac_kinematic_angular_eqs():
time = 0
euler_angles = np.array([0, np.pi / 2, 0])
ang_vel = np.array([0, 1, 0], dtype=float)
expected_sol = np.zeros([3, 3], dtype=float)
expected_sol[0, 1] = -1
expected_sol[1, 0] = 1
sol = jac_kinematic_angular_eqs(time, euler_angles, ang_vel)
assert (np.allclose(expected_sol, sol))
def test1_jac_kinematic_angular_eqs():
time = 0
euler_angles = np.array([np.pi / 4, np.pi / 4, 0])
angular_vel = np.array([1, 1, 1], dtype=float)
expected_sol = np.zeros([3, 3])
expected_sol[0, 1] = - 2 ** 0.5
expected_sol[1, 0] = 2 * 2 ** 0.5
expected_sol[2, 0] = 2
sol = jac_kinematic_angular_eqs(time, euler_angles, angular_vel)
assert(np.allclose(expected_sol, sol))
def test1_jac_kinematic_angular_eqs():
time = 0
euler_angles = np.array([np.pi / 4, np.pi / 4, 0])
ang_vel = np.array([1, 1, 1], dtype=float)
expected_sol = np.zeros([3, 3])
expected_sol[0, 1] = -2**0.5
expected_sol[1, 0] = 2 * 2**0.5
expected_sol[2, 0] = 2
sol = jac_kinematic_angular_eqs(time, euler_angles, ang_vel)
assert (np.allclose(expected_sol, sol))