def test_operators_quaternion(self):
q1 = Quaternion()
q2 = Quaternion.from_x_rotation(0.5)
# add
self.assertRaises(ValueError, lambda: q1 + q2)
# subtract
# we had to add this to enable np.array_equal to work
# as it uses subtraction
#self.assertRaises(ValueError, lambda: q1 - q2)
# multiply
self.assertTrue(
np.array_equal(
q1 * q2,
quaternion.cross(quaternion.create(),
quaternion.create_from_x_rotation(0.5))))
# divide
self.assertRaises(ValueError, lambda: q1 / q2)
# or
self.assertTrue(
np.array_equal(
q1 | q2,
quaternion.dot(quaternion.create(),
quaternion.create_from_x_rotation(0.5))))
# inverse
self.assertTrue(
np.array_equal(
~q2,
quaternion.conjugate(quaternion.create_from_x_rotation(0.5))))
def test_operators_quaternion(self):
q1 = Quaternion()
q2 = Quaternion.from_x_rotation(0.5)
# add
self.assertRaises(ValueError, lambda: q1 + q2)
# subtract
# we had to add this to enable np.array_equal to work
# as it uses subtraction
#self.assertRaises(ValueError, lambda: q1 - q2)
# multiply
self.assertTrue(np.array_equal(q1 * q2, quaternion.cross(quaternion.create(), quaternion.create_from_x_rotation(0.5))))
# divide
self.assertRaises(ValueError, lambda: q1 / q2)
# or
self.assertTrue(np.array_equal(q1 | q2, quaternion.dot(quaternion.create(), quaternion.create_from_x_rotation(0.5))))
# inverse
self.assertTrue(np.array_equal(~q2, quaternion.conjugate(quaternion.create_from_x_rotation(0.5))))
# ==
self.assertTrue(Quaternion() == Quaternion())
self.assertFalse(Quaternion() == Quaternion([0., 0., 0., 0.]))
# !=
self.assertTrue(Quaternion() != Quaternion([1., 1., 1., 1.]))
self.assertFalse(Quaternion() != Quaternion())
def test_operators_quaternion(self):
q1 = Quaternion()
q2 = Quaternion.from_x_rotation(0.5)
# add
self.assertRaises(ValueError, lambda: q1 + q2)
# subtract
self.assertRaises(ValueError, lambda: q1 - q2)
# multiply
self.assertTrue(np.array_equal(q1 * q2, quaternion.cross(quaternion.create(), quaternion.create_from_x_rotation(0.5))))
# divide
self.assertRaises(ValueError, lambda: q1 / q2)
# or
self.assertTrue(np.array_equal(q1 | q2, quaternion.dot(quaternion.create(), quaternion.create_from_x_rotation(0.5))))
# inverse
self.assertTrue(np.array_equal(~q2, quaternion.conjugate(quaternion.create_from_x_rotation(0.5))))
def test_inverse_non_unit(self):
q = [1, 2, 3, 4]
result = quaternion.inverse(q)
expected = quaternion.conjugate(q) / quaternion.length(q)
np.testing.assert_almost_equal(result, expected, decimal=5)
def test_conjugate_rotation(self):
result = quaternion.conjugate(
[5.77350000e-01, 5.77350000e-01, 5.77350000e-01, 6.12323400e-17])
np.testing.assert_almost_equal(
result, [-0.57735, -0.57735, -0.57735, 6.12323e-17], decimal=5)
def test_conjugate(self):
#result = quaternion.conjugate([5.77350000e-01, 5.77350000e-01, 5.77350000e-01, 6.12323400e-17])
result = quaternion.conjugate([0., 0., 0., 1.])
np.testing.assert_almost_equal(result, [0., 0., 0., 1.], decimal=5)
def test_inverse_non_unit(self):
q = [1, 2, 3, 4]
result = quaternion.inverse(q)
expected = quaternion.conjugate(q) / quaternion.length(q)
np.testing.assert_almost_equal(result, expected, decimal=5)
def test_conjugate_rotation(self):
result = quaternion.conjugate([5.77350000e-01, 5.77350000e-01, 5.77350000e-01, 6.12323400e-17])
np.testing.assert_almost_equal(result, [-0.57735, -0.57735, -0.57735, 6.12323e-17], decimal=5)
def test_conjugate(self):
#result = quaternion.conjugate([5.77350000e-01, 5.77350000e-01, 5.77350000e-01, 6.12323400e-17])
result = quaternion.conjugate([0., 0., 0., 1.])
np.testing.assert_almost_equal(result, [0., 0., 0., 1.], decimal=5)
def test_conjugate(self):
q = Quaternion.from_x_rotation(np.pi / 2.0)
self.assertTrue(np.allclose(q.conjugate, quaternion.conjugate(q)))
def test_conjugate(self):
q = Quaternion.from_x_rotation(np.pi / 2.0)
self.assertTrue(np.allclose(q.conjugate, quaternion.conjugate(q)))
