def testMultipleRotates(self):
r1 = matmath.xRotationMatrix(np.radians(90))
r2 = matmath.zRotationMatrix(np.radians(90))
mat = r1.dot(r2)
pt = np.array([0, 0, 1, 1])
npt = pt.dot(mat)
np.testing.assert_almost_equal(npt, [1, 0, 0, 1])
def testRotX(self):
mat = matmath.xRotationMatrix(math.radians(90))
pt = np.array([1, 0, 0, 1])
npt = pt.dot(mat)
np.testing.assert_almost_equal(npt, [1, 0, 0, 1])
pt = np.array([0, 1, 0, 1])
npt = pt.dot(mat)
np.testing.assert_almost_equal(npt, [0, 0, 1, 1])
pt = np.array([0, 0, 1, 1])
npt = pt.dot(mat)
np.testing.assert_almost_equal(npt, [0, -1, 0, 1])
def testQuaternionMatrix(self):
q = matmath.axisAngleToQuaternion([1, 0, 0], np.radians(90))
qmat = matmath.quaternionToRotationMatrix(q)
rmat = matmath.xRotationMatrix(math.radians(90))
np.testing.assert_almost_equal(qmat, rmat)
q = matmath.axisAngleToQuaternion([0, 1, 0], np.radians(90))
qmat = matmath.quaternionToRotationMatrix(q)
rmat = matmath.yRotationMatrix(math.radians(90))
np.testing.assert_almost_equal(qmat, rmat)
q = matmath.axisAngleToQuaternion([0, 0, 1], np.radians(90))
qmat = matmath.quaternionToRotationMatrix(q)
rmat = matmath.zRotationMatrix(math.radians(90))
np.testing.assert_almost_equal(qmat, rmat)