def test_equiv_quaternions(self):
"""Different Euler rotations give same quaternion, up to sign."""
# Check if euler angles from to_zyz return same quaternion
# up to a sign (2pi rotation)
rot = [
'xyz', 'xyx', 'xzy', 'xzx', 'yzx', 'yzy', 'yxz', 'yxy', 'zxy',
'zxz', 'zyx', 'zyz'
]
for value in rot:
rnd = np.array([-1.57657536, 5.66384302, 2.91532185])
quat1 = Quaternion.from_euler(rnd, value)
euler = quat1.to_zyz()
quat2 = Quaternion.from_euler(euler, 'zyz')
assert_allclose(abs(quat1.data.dot(quat2.data)), 1)
def setUp(self):
super().setUp()
self.rnd_array = np.array([0.5, 0.8, 0.9, -0.3])
self.quat_unnormalized = Quaternion(self.rnd_array)
axes = ['x', 'y', 'z']
rnd = np.array([-0.92545003, -2.19985357, 6.01761209])
idx = np.array([0, 2, 1])
self.mat1 = rotation_matrix(rnd[0], axes[idx[0]]).dot(
rotation_matrix(rnd[1], axes[idx[1]]).dot(
rotation_matrix(rnd[2], axes[idx[2]])))
axes_str = ''.join(axes[i] for i in idx)
quat = Quaternion.from_euler(rnd, axes_str)
self.mat2 = quat.to_matrix()