def test_null4(self):
(theta, comp) = dcs.quat_angle_diff(self.null_quat, self.quat1)
self.assertEqual(theta, None)
for i in range(3):
self.assertEqual(comp[i], None)
def test_zero_diff3(self):
(theta,
comp) = dcs.quat_angle_diff(np.column_stack((self.quat1, self.quat1)),
self.quat1)
np.testing.assert_array_almost_equal(theta, 0)
np.testing.assert_array_almost_equal(comp, 0)
def test_zero_diff4(self):
temp = np.column_stack(
(self.quat1, self.dq1, self.dq2, self.dqq1, self.dqq2))
(theta, comp) = dcs.quat_angle_diff(temp, temp)
np.testing.assert_array_almost_equal(theta, 0)
np.testing.assert_array_almost_equal(comp, 0)
def test_array3(self):
(theta, comp) = dcs.quat_angle_diff(np.column_stack((self.quat1, self.quat1, self.dqq1, self.dqq2)), \
np.column_stack((self.dqq1, self.dqq2, self.quat1, self.quat1)))
np.testing.assert_array_almost_equal(theta, self.theta[[0, 1, 0, 1]])
np.testing.assert_array_almost_equal(
comp, self.comp[:, [0, 1, 0, 1]] * np.array([1, 1, -1, -1]))
def test_zero_diff1(self):
(theta, comp) = dcs.quat_angle_diff(self.quat1, self.quat1)
np.testing.assert_array_almost_equal(theta, 0)
np.testing.assert_array_almost_equal(comp, 0)
def test_nominal2(self):
(theta, comp) = dcs.quat_angle_diff(self.quat1, self.dqq2)
np.testing.assert_array_almost_equal(theta, self.theta[1])
np.testing.assert_array_almost_equal(comp, self.comp[:, 1])
def test_array2(self):
(theta,
comp) = dcs.quat_angle_diff(self.quat1,
np.column_stack((self.dqq1, self.dqq2)))
np.testing.assert_array_almost_equal(theta, self.theta)
np.testing.assert_array_almost_equal(comp, self.comp)
def test_zero_diff4(self):
temp = np.column_stack((self.quat1, self.dq1, self.dq2, self.dqq1, self.dqq2))
(theta, comp) = dcs.quat_angle_diff(temp, temp)
np.testing.assert_array_almost_equal(theta, 0)
np.testing.assert_array_almost_equal(comp, 0)
def test_null4(self):
(theta, comp) = dcs.quat_angle_diff(self.null_quat, self.quat1)
self.assertEqual(theta, None)
for i in range(3):
self.assertEqual(comp[i], None)
def test_zero_diff3(self):
(theta, comp) = dcs.quat_angle_diff(np.column_stack((self.quat1, self.quat1)), self.quat1)
np.testing.assert_array_almost_equal(theta, 0)
np.testing.assert_array_almost_equal(comp, 0)
def test_zero_diff1(self):
(theta, comp) = dcs.quat_angle_diff(self.quat1, self.quat1)
np.testing.assert_array_almost_equal(theta, 0)
np.testing.assert_array_almost_equal(comp, 0)
def test_array3(self):
(theta, comp) = dcs.quat_angle_diff(np.column_stack((self.quat1, self.quat1, self.dqq1, self.dqq2)), \
np.column_stack((self.dqq1, self.dqq2, self.quat1, self.quat1)))
np.testing.assert_array_almost_equal(theta, self.theta[[0, 1, 0, 1]])
np.testing.assert_array_almost_equal(comp, self.comp[:,[0, 1, 0, 1]] * np.array([1, 1, -1, -1]))
def test_array2(self):
(theta, comp) = dcs.quat_angle_diff(self.quat1, np.column_stack((self.dqq1, self.dqq2)))
np.testing.assert_array_almost_equal(theta, self.theta)
np.testing.assert_array_almost_equal(comp, self.comp)
def test_nominal2(self):
(theta, comp) = dcs.quat_angle_diff(self.quat1, self.dqq2)
np.testing.assert_array_almost_equal(theta, self.theta[1])
np.testing.assert_array_almost_equal(comp, self.comp[:, 1])