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)
def test_concat():
"""Test concatenation of transforms."""
random_state = np.random.RandomState(0)
for _ in range(5):
A2B = random_transform(random_state)
assert_transform(A2B)
B2C = random_transform(random_state)
assert_transform(B2C)
A2C = concat(A2B, B2C)
assert_transform(A2C)
p_A = np.array([0.3, -0.2, 0.9, 1.0])
p_C = transform(A2C, p_A)
C2A = invert_transform(A2C)
p_A2 = transform(C2A, p_C)
assert_array_almost_equal(p_A, p_A2)
C2A2 = concat(invert_transform(B2C), invert_transform(A2B))
p_A3 = transform(C2A2, p_C)
assert_array_almost_equal(p_A, p_A3)
