def test_is_normalized_random(self): """Tests that is_normalized works as intended.""" # Samples normalized axis-angles. random_euler_angles = test_helpers.generate_random_test_euler_angles() with self.subTest(name=("is_normalized")): random_axis, random_angle = axis_angle.from_euler(random_euler_angles) pred = axis_angle.is_normalized(random_axis, random_angle) self.assertAllEqual(np.ones(shape=random_angle.shape, dtype=bool), pred) with self.subTest(name=("is_not_normalized")): random_axis *= 1.01 pred = axis_angle.is_normalized(random_axis, random_angle) self.assertAllEqual(np.zeros(shape=random_angle.shape, dtype=bool), pred)
def test_from_euler_normalized_preset(self): """Tests that from_euler allows build normalized axis-angles.""" euler_angles = test_helpers.generate_preset_test_euler_angles() axis, angle = axis_angle.from_euler(euler_angles) self.assertAllEqual( axis_angle.is_normalized(axis, angle), np.ones(angle.shape, dtype=bool))
def test_inverse_normalized_random(self): """Tests that axis-angle inversion return a normalized axis-angle.""" random_axis, random_angle = test_helpers.generate_random_test_axis_angle() inverse_axis, inverse_angle = axis_angle.inverse(random_axis, random_angle) self.assertAllEqual( axis_angle.is_normalized(inverse_axis, inverse_angle), np.ones(random_angle.shape))
def test_from_rotation_matrix_normalized_random(self): """Tests that from_rotation_matrix returns normalized axis-angles.""" random_euler_angles = test_helpers.generate_random_test_euler_angles() matrix = rotation_matrix_3d.from_euler(random_euler_angles) axis, angle = axis_angle.from_rotation_matrix(matrix) self.assertAllEqual( axis_angle.is_normalized(axis, angle), np.ones(angle.shape, dtype=bool))
def test_from_quaternion_normalized_random(self): """Tests that from_quaternion returns normalized axis-angles.""" random_quaternions = test_helpers.generate_random_test_quaternions() random_axis, random_angle = axis_angle.from_quaternion(random_quaternions) self.assertAllEqual( axis_angle.is_normalized(random_axis, random_angle), np.ones(random_angle.shape))
def test_from_quaternion_normalized_preset(self): """Tests that from_quaternion returns normalized axis-angles.""" euler_angles = test_helpers.generate_preset_test_euler_angles() quat = quaternion.from_euler(euler_angles) axis, angle = axis_angle.from_quaternion(quat) self.assertAllEqual( axis_angle.is_normalized(axis, angle), np.ones(angle.shape, dtype=bool))
def test_from_euler_normalized_random(self): """Tests that from_euler allows build normalized axis-angles.""" random_euler_angles = test_helpers.generate_random_test_euler_angles() random_axis, random_angle = axis_angle.from_euler(random_euler_angles) self.assertAllEqual( axis_angle.is_normalized(random_axis, random_angle), np.ones(shape=random_angle.shape))