def test_pivot_rotate_point():
point = [1, 2, 3]
new_orig = np.array([10., 45., 50.])
t = gtr.Translation(new_orig)
t_inv = gtr.Translation(new_orig * -1)
R = gtr._rodrigues_to_dcm(TEST_UVEC, np.pi)
# change origin, rotate 180
p1 = gtr.PivotRotation(R, new_orig)(point)
# do the steps manually
p2 = t_inv(point)
p2 = gtr.Rotation(R)(p2)
p2 = t(p2)
assert p1.tolist() == p2.tolist()
def test_pivot_rotate_points():
points = np.array([[1, 2, 3], [4, 5, 6], [7, 8, 9], [10, 11, 12]])
new_orig = np.array([10., 45., 50.])
t = gtr.Translation(new_orig)
t_inv = gtr.Translation(new_orig * -1)
R = gtr._rodrigues_to_dcm(TEST_UVEC, np.pi)
# change origin, rotate 180
p1 = gtr.PivotRotation(R, new_orig)(points)
# do the steps manually
p2 = t_inv(points)
p2 = gtr.Rotation(R)(p2)
p2 = t(p2)
nt.assert_true(np.all(p1 == p2))