def test_two_euler_angle_0987654321(self):
"""Quaternion should return a correct sequence of zyz representation
in the case of rotations when there are only two non-zero Euler angle.
angle = 0.987654321 """
rand_rot_angle = 0.987654321
some_quat = (quaternion_from_axis_rotation(rand_rot_angle, "z")
* quaternion_from_axis_rotation(np.pi, "y"))
assert_allclose(some_quat.to_zyz(), np.array([rand_rot_angle, np.pi, 0]))
def test_one_euler_angle(self):
"""Quaternion should return a correct sequence of zyz representation
in the case of rotations when there is only one non-zero Euler angle."""
rand_rot_angle = 0.123456789
some_quat = quaternion_from_axis_rotation(rand_rot_angle, "z")
self.assertTrue(
np.allclose(some_quat.to_zyz(), np.array([rand_rot_angle, 0, 0])))
