def testInvalidRotationOrder():
matrixToEuler(np.eye(3), order='invalid')
def checkMatrixToEuler(order, degrees):
q1 = randomRotation()
m = q1.toMatrix()
e = matrixToEuler(m, order, degrees)
q2 = QuaternionFromEuler(e, order, degrees)
assertQuaternionAlmostEqual(q1,q2)
def checkZXY(matrix, euler):
testing.assert_almost_equal(matrixToEuler(matrix, order='zxy',
inDegrees=True), euler)
testing.assert_almost_equal(matrixFromEuler(euler, order='zxy'),
matrix)
def testUnkownRotationOrder():
matrixToEuler(np.eye(3), order='zxz')
