def test_ad(self):
result_of_Ad = get_list_of_dq_from_mat('result_of_Ad', mat)
for a, b, c in zip(dq_a_list, dq_b_list, result_of_Ad):
numpy.testing.assert_almost_equal(vec8(Ad(a, b)), vec8(c), 12,
"Error in Ad")
def test_dot(self):
result_of_dot = get_list_of_dq_from_mat('result_of_dot', mat)
for a, b, c in zip(dq_a_list, dq_b_list, result_of_dot):
self.assertEqual(dot(a, b), c, "Error in dot")
def test_cross(self):
result_of_cross = get_list_of_dq_from_mat('result_of_cross', mat)
for a, b, c in zip(dq_a_list, dq_b_list, result_of_cross):
self.assertEqual(cross(a, b), c, "Error in cross")
def test_minus(self):
result_of_minus = get_list_of_dq_from_mat('result_of_minus', mat)
for a, b, c in zip(dq_a_list, dq_b_list, result_of_minus):
self.assertEqual(a - b, c, "Error in -")
def test_times(self):
result_of_times = get_list_of_dq_from_mat('result_of_times', mat)
for a, b, c in zip(dq_a_list, dq_b_list, result_of_times):
self.assertEqual(a * b, c, "Error in *")
def test_of_rotation_axis(self):
result_of_rotation_axis = get_list_of_dq_from_mat(
'result_of_rotation_axis', mat)
for a, c in zip(dq_a_list, result_of_rotation_axis):
self.assertEqual(rotation_axis(normalize(a)), c,
"Error in rotation_axis")
def test_of_rotation_angle(self):
result_of_rotation_angle = get_list_of_dq_from_mat(
'result_of_rotation_angle', mat)
for a, c in zip(dq_a_list, result_of_rotation_angle):
self.assertEqual(DQ([rotation_angle(normalize(a))]), c,
"Error in rotation_angle")
def test_of_log(self):
result_of_log = get_list_of_dq_from_mat('result_of_log', mat)
for a, c in zip(dq_a_list, result_of_log):
self.assertEqual(log(normalize(a)), c, "Error in log")
def test_of_exp(self):
result_of_exp = get_list_of_dq_from_mat('result_of_exp', mat)
for a, c in zip(dq_a_list, result_of_exp):
self.assertEqual(exp(DQ(vec6(a))), c, "Error in exp")
def test_of_translation(self):
result_of_translation = get_list_of_dq_from_mat(
'result_of_translation', mat)
for a, c in zip(dq_a_list, result_of_translation):
self.assertEqual(translation(normalize(a)), c,
"Error in translation")
def test_normalize(self):
result_of_normalize = get_list_of_dq_from_mat('result_of_normalize',
mat)
for a, c in zip(dq_a_list, result_of_normalize):
self.assertEqual(normalize(a), c, "Error in normalize")
def test_sharp(self):
result_of_sharp = get_list_of_dq_from_mat('result_of_sharp', mat)
for a, c in zip(dq_a_list, result_of_sharp):
self.assertEqual(sharp(a), c, "Error in sharp")
def test_conj(self):
result_of_conj = get_list_of_dq_from_mat('result_of_conj', mat)
for a, c in zip(dq_a_list, result_of_conj):
self.assertEqual(conj(a), c, "Error in conj")
You should have received a copy of the GNU Lesser General Public License
along with DQ Robotics. If not, see <http://www.gnu.org/licenses/>.
Contributors:
- Murilo M. Marinho ([email protected])
"""
import unittest
import scipy.io
import numpy
from dqrobotics import *
from DQ_test_facilities import get_list_of_dq_from_mat
mat = scipy.io.loadmat('DQ_test.mat')
dq_a_list = get_list_of_dq_from_mat('random_dq_a', mat)
dq_b_list = get_list_of_dq_from_mat('random_dq_b', mat)
class DQTestCase(unittest.TestCase):
global mat
global dq_a_list
global dq_b_list
# Constructors
def test_constructor_valid(self):
# Eight
self.assertEqual(DQ([1, 2, 3, 4, 5, 6, 7, 8]),
DQ(1, 2, 3, 4, 5, 6, 7, 8),
"Incorrect 8 elements constructor")
# Six
