def test_invert_transform():
"""Test inversion of transformations."""
random_state = np.random.RandomState(0)
for _ in range(5):
R = matrix_from(a=random_axis_angle(random_state))
p = random_vector(random_state)
A2B = transform_from(R, p)
B2A = invert_transform(A2B)
A2B2 = np.linalg.inv(B2A)
assert_array_almost_equal(A2B, A2B2)
def test_vector_to_direction():
"""Test conversion from vector to direction in homogenous coordinates."""
v = np.array([1, 2, 3])
dA = vector_to_direction(v)
assert_array_almost_equal(dA, [1, 2, 3, 0])
random_state = np.random.RandomState(0)
R = matrix_from(a=random_axis_angle(random_state))
p = random_vector(random_state)
A2B = transform_from(R, p)
assert_transform(A2B)
_ = transform(A2B, dA)
def test_vector_to_point():
"""Test conversion from vector to homogenous coordinates."""
v = np.array([1, 2, 3])
pA = vector_to_point(v)
assert_array_almost_equal(pA, [1, 2, 3, 1])
random_state = np.random.RandomState(0)
R = matrix_from(a=random_axis_angle(random_state))
p = random_vector(random_state)
A2B = transform_from(R, p)
assert_transform(A2B)
pB = transform(A2B, pA)
