def test_value_w(self):
x, y, z, w = 0, 0, 0, 1
q = Quaternion(x, y, z, w)
self.assertEqual(q.x, x)
self.assertEqual(q.y, y)
self.assertEqual(q.z, z)
self.assertEqual(q.w, w)
def test_normalize(self):
x, y, z, w = 2, 2, 2, 2
q = Quaternion(x, y, z, w)
r = q.normalized
self.assertEqual(r.x, 0.5)
self.assertEqual(r.y, 0.5)
self.assertEqual(r.z, 0.5)
self.assertEqual(r.w, 0.5)
def test_conjunction(self):
x, y, z, w = 1.1, 2.2, 3.3, 4.4
q = Quaternion(x, y, z, w)
r = q.conjugate
self.assertEqual(r.x, -x)
self.assertEqual(r.y, -y)
self.assertEqual(r.z, -z)
self.assertEqual(r.w, w)
def test_defaults(self):
q = Quaternion()
self.assertEqual(q.x, 0)
self.assertEqual(q.y, 0)
self.assertEqual(q.z, 0)
self.assertEqual(q.w, 1)
def test_norm(self):
x, y, z, w = 2, 2, 2, 2
q = Quaternion(x, y, z, w)
norm = q.norm
self.assertEqual(norm, 4)
def test_defaults(self):
p = Pose()
self.assertEqual(p.position, Point())
self.assertEqual(p.orientation, Quaternion())