def test_euler_equivalence(self):
eulers = euler.create_from_x_rotation(np.pi / 2.)
m = matrix33.create_from_x_rotation(np.pi / 2.)
q = quaternion.create_from_x_rotation(np.pi / 2.)
qm = matrix33.create_from_quaternion(q)
em = matrix33.create_from_eulers(eulers)
self.assertTrue(np.allclose(qm, m))
self.assertTrue(np.allclose(qm, em))
self.assertTrue(np.allclose(m, em))
def test_euler_equivalence(self):
eulers = euler.create_from_x_rotation(np.pi / 2.)
m = matrix33.create_from_x_rotation(np.pi / 2.)
q = quaternion.create_from_x_rotation(np.pi / 2.)
qm = matrix33.create_from_quaternion(q)
em = matrix33.create_from_eulers(eulers)
self.assertTrue(np.allclose(qm, m))
self.assertTrue(np.allclose(qm, em))
self.assertTrue(np.allclose(m, em))
def create_from_eulers( eulers ):
"""Creates a matrix from the specified Euler rotations.
:param numpy.array eulers: A set of euler rotations in the format
specified by the euler modules.
:rtype: numpy.array
:return: A matrix with shape (4,4) with the euler's rotation.
"""
# set to identity matrix
# this will populate our extra rows for us
mat = create_identity()
# we'll use Matrix33 for our conversion
mat33 = mat[ 0:3, 0:3 ]
mat[ 0:3, 0:3 ] = matrix33.create_from_eulers( eulers, mat33 )
return mat
def test_create_from_eulers(self):
# just call the function
# TODO: check the result
matrix33.create_from_eulers([1, 2, 3])
def test_create_from_eulers(self):
e = Vector3([1,2,3])
m = Matrix33.from_eulers(e)
self.assertTrue(np.array_equal(m, matrix33.create_from_eulers([1,2,3])))
def test_create_from_eulers(self):
e = Vector3([1,2,3])
m = Matrix33.from_eulers(e)
self.assertTrue(np.array_equal(m, matrix33.create_from_eulers([1,2,3])))
def test_create_from_eulers(self):
# just call the function
# TODO: check the result
matrix33.create_from_eulers([1,2,3])