def test_rand(self):
q = euldeg2quat(23, 82, 13)
rotm_gt = euldeg2rotm(23, 82, 13)
rotm = quat2rotm(q)
assert np.all(np.isclose(rotm, rotm_gt))
q = euldeg2quat(-240, 428, -888)
rotm_gt = euldeg2rotm(-240, 428, -888)
rotm = quat2rotm(q)
assert np.all(np.isclose(rotm, rotm_gt))
def test_rand(self):
q_1 = euldeg2quat(23, 82, 13)
rotm = quat2rotm(q_1)
q_2 = rotm2quat(rotm)
assert np.all(np.isclose(q_1, q_2)) or np.all(np.isclose(-q_1, q_2))
q_1 = euldeg2quat(-240, 428, -888)
rotm = quat2rotm(q_1)
q_2 = rotm2quat(rotm)
assert np.all(np.isclose(q_1, q_2)) or np.all(np.isclose(-q_1, q_2))
def test_z90(self):
quat = euldeg2quat(0, 0, 90)
quat_gt = np.zeros(4)
quat_gt[0] = 0.7071068
quat_gt[3] = 0.7071068
assert np.all(np.isclose(quat, quat_gt)) or np.all(
np.isclose(-quat, quat_gt))
def test_rand(self):
quat = euldeg2quat(23, 82, 13)
quat_gt = np.zeros(4)
quat_gt[0] = 0.74961123
quat_gt[1] = 0.07672064
quat_gt[2] = 0.65578898
quat_gt[3] = -0.04623594
assert np.all(np.isclose(quat, quat_gt)) or np.all(
np.isclose(-quat, quat_gt))
quat = euldeg2quat(-240, 428, -888)
quat_gt = np.zeros(4)
quat_gt[0] = -0.43829334
quat_gt[1] = 0.35311284
quat_gt[2] = -0.68480871
quat_gt[3] = -0.46286856
assert np.all(np.isclose(quat, quat_gt)) or np.all(
np.isclose(-quat, quat_gt))
def test_z180(self):
quat = euldeg2quat(0, 0, 180)
quat_gt = np.zeros(4)
quat_gt[3] = 1
assert np.all(np.isclose(quat, quat_gt)) or np.all(
np.isclose(-quat, quat_gt))
def test_unnormalized(self):
q = euldeg2quat(2, -45, 21) * 5
rotm_gt = euldeg2rotm(2, -45, 21)
rotm = quat2rotm(q)
assert np.all(np.isclose(rotm, rotm_gt))
def test_z180(self):
q = euldeg2quat(0, 0, 180)
rotm_gt = euldeg2rotm(0, 0, 180)
rotm = quat2rotm(q)
assert np.all(np.isclose(rotm, rotm_gt))
def test_x90(self):
q = euldeg2quat(90, 0, 0)
rotm_gt = euldeg2rotm(90, 0, 0)
rotm = quat2rotm(q)
assert np.all(np.isclose(rotm, rotm_gt))
def test_identity(self):
q = euldeg2quat(0, 0, 0)
rotm_gt = euldeg2rotm(0, 0, 0)
rotm = quat2rotm(q)
assert np.all(np.isclose(rotm, rotm_gt))
def test_identity(self):
quat = euldeg2quat(0, 0, 0)
quat_gt = np.zeros(4)
quat_gt[0] = 1
assert np.all(np.isclose(quat, quat_gt)) or np.all(
np.isclose(-quat, quat_gt))
