def __apply_transformation_vec3(self, a_point):
'''
Applies the transformation to a given Verctor3.
:param a_point: Vector3
'''
return (Matrix33.from_quaternion(self.__rotation_quaternion).T *
a_point) + Vector3.from_vector4(self.__translation)[0]
def test_euler_equivalence(self):
eulers = euler.create_from_x_rotation(np.pi / 2.)
m = Matrix33.from_x_rotation(np.pi / 2.)
q = Quaternion.from_x_rotation(np.pi / 2.)
qm = Matrix33.from_quaternion(q)
em = Matrix33.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.from_x_rotation(np.pi / 2.)
q = Quaternion.from_x_rotation(np.pi / 2.)
qm = Matrix33.from_quaternion(q)
em = Matrix33.from_eulers(eulers)
self.assertTrue(np.allclose(qm, m))
self.assertTrue(np.allclose(qm, em))
self.assertTrue(np.allclose(m, em))
