def test_constant_inverse():
rot1_2 = ConstantRotation([1.0 / np.sqrt(2), 0, 0, 1.0 / np.sqrt(2)], 1, 2)
rot2_1 = rot1_2.inverse()
assert rot2_1.source == 2
assert rot2_1.dest == 1
expected_quats = [1.0 / np.sqrt(2), 0, 0, -1.0 / np.sqrt(2)]
np.testing.assert_almost_equal(rot2_1.quat, expected_quats)
def test_constant_inverse():
rot1_2 = ConstantRotation(
np.array([1.0 / np.sqrt(2), 0, 0, 1.0 / np.sqrt(2)]), 1, 2)
rot2_1 = rot1_2.inverse()
assert rot2_1.source == 2
assert rot2_1.dest == 1
np.testing.assert_almost_equal(
rot2_1.quat, np.array([1.0 / np.sqrt(2), 0, 0, -1.0 / np.sqrt(2)]))