def test_orthonormal_basis(self): R = mut.ComputeBasisFromAxis(axis_index=0, axis_W=[1, 0, 0]) self.assertAlmostEqual(np.linalg.det(R), 1.0) self.assertTrue(np.allclose(R.dot(R.T), np.eye(3)))
def test_orthonormal_basis(self): with catch_drake_warnings(expected_count=1): R = mut.ComputeBasisFromAxis(axis_index=0, axis_W=[1, 0, 0]) self.assertAlmostEqual(np.linalg.det(R), 1.0) self.assertTrue(np.allclose(R.dot(R.T), np.eye(3)))