def test_rotation_of_z_vector(self):
assert np.allclose([0, 0, 1], qrot([0, 0, 1], qeuler(90, 0, 0)))
assert np.allclose([0, 0, 1], qrot([0, 0, 1], qeuler(180, 0, 0)))
assert np.allclose([0, -0.70710, 0.70710],
qrot([0, 0, 1], qeuler(180, 0, -45)))
assert np.allclose([-0.70710, 0.70710, 0],
qrot([0, 0, 1], qeuler(180, 90, 45)))
def test_mixed_rotation(self):
assert np.allclose([1, 2, 3], qrot([1, 2, 3], qeuler(0, 0, 0)))
assert np.allclose([0, -1.414213, 0], qrot([0, 1, -1], qeuler(180, 90, 45)))
assert np.allclose([-1.41421356, 0, -1], qrot([1, 1, 1], qeuler(180, 90, 45)))
assert np.allclose(
[-14.1421356, 0, -10], qrot([10, 10, 10], qeuler(180, 90, 45))
)
def test_mixed_conversion(self):
assert np.allclose([0.999471, 0.02601972, 0.01767416, 0.00826538],
qeuler(1, 2, 3))
assert np.allclose([0.94371436, 0.26853582, -0.14487813, 0.12767944],
qeuler(10, -20, 30))
assert np.allclose([-0.16575384, -0.69624819, 0.05479592, -0.69624819],
qeuler(-999, 999, -999))
def test_mixed_rotation(self):
assert np.allclose([1, 2, 3], qrot([1, 2, 3], qeuler(0, 0, 0)))
assert np.allclose([0, -1.414213, 0],
qrot([0, 1, -1], qeuler(180, 90, 45)))
assert np.allclose([-1.41421356, 0, -1],
qrot([1, 1, 1], qeuler(180, 90, 45)))
assert np.allclose([-14.1421356, 0, -10],
qrot([10, 10, 10], qeuler(180, 90, 45)))
def test_rotation_of_y_vector(self):
assert np.allclose([-1, 0, 0], qrot([0, 1, 0], qeuler(90, 0, 0)))
assert np.allclose([0, -1, 0], qrot([0, 1, 0], qeuler(180, 0, 0)))
assert np.allclose(
[0, -0.70710, -0.70710], qrot([0, 1, 0], qeuler(180, 0, -45))
)
assert np.allclose(
[-0.70710, -0.70710, 0], qrot([0, 1, 0], qeuler(180, 90, 45))
)
def test_mixed_conversion(self):
assert np.allclose(
[0.999471, 0.02601972, 0.01767416, 0.00826538], qeuler(1, 2, 3)
)
assert np.allclose(
[0.94371436, 0.26853582, -0.14487813, 0.12767944], qeuler(10, -20, 30)
)
assert np.allclose(
[-0.16575384, -0.69624819, 0.05479592, -0.69624819], qeuler(-999, 999, -999)
)
def test_conversion_of_roll(self):
assert np.allclose([0.92388, 0.38268, 0, 0], qeuler(0, 0, 45))
assert np.allclose([0.92388, -0.38268, 0, 0], qeuler(0, 0, -45))
assert np.allclose([0.70710, 0.70710, 0, 0], qeuler(0, 0, 90))
assert np.allclose([0.86602, 0.5, 0, 0], qeuler(0, 0, 60))
assert np.allclose([-0.96592583, -0.25881905, 0, 0], qeuler(0, 0, 390))
def test_conversion_of_pitch(self):
assert np.allclose([0.92388, 0, 0.38268, 0], qeuler(0, 45, 0))
assert np.allclose([0.92388, 0, -0.38268, 0], qeuler(0, -45, 0))
assert np.allclose([0.7071, 0, 0.7071, 0], qeuler(0, 90, 0))
assert np.allclose([0.8660254, 0, 0.5, 0], qeuler(0, 60, 0))
assert np.allclose([-0.96592583, 0, -0.25881905, 0], qeuler(0, 390, 0))
def test_conversion_of_yaw(self):
assert np.allclose([1, 0, 0, 0], qeuler(0, 0, 0))
assert np.allclose([0.7071, 0, 0, 0.7071], qeuler(90, 0, 0))
assert np.allclose([0, 0, 0, 1], qeuler(180, 0, 0))
assert np.allclose([-0.7071, 0, 0, 0.7071], qeuler(270, 0, 0))
assert np.allclose([-1, 0, 0, 0], qeuler(360, 0, 0))
def test_rotation_of_x_vector(self):
assert np.allclose([0, 1, 0], qrot([1, 0, 0], qeuler(90, 0, 0)))
assert np.allclose([-1, 0, 0], qrot([1, 0, 0], qeuler(180, 0, 0)))
assert np.allclose([-1, 0, 0], qrot([1, 0, 0], qeuler(180, 0, -45)))
assert np.allclose([0, 0, -1], qrot([1, 0, 0], qeuler(180, 90, 45)))
def test_conversion_of_roll(self):
assert np.allclose([0.92388, 0.38268, 0, 0], qeuler(0, 0, 45))
assert np.allclose([0.92388, -0.38268, 0, 0], qeuler(0, 0, -45))
assert np.allclose([0.70710, 0.70710, 0, 0], qeuler(0, 0, 90))
assert np.allclose([0.86602, 0.5, 0, 0], qeuler(0, 0, 60))
assert np.allclose([-0.96592583, -0.25881905, 0, 0], qeuler(0, 0, 390))
def test_conversion_of_pitch(self):
assert np.allclose([0.92388, 0, 0.38268, 0], qeuler(0, 45, 0))
assert np.allclose([0.92388, 0, -0.38268, 0], qeuler(0, -45, 0))
assert np.allclose([0.7071, 0, 0.7071, 0], qeuler(0, 90, 0))
assert np.allclose([0.8660254, 0, 0.5, 0], qeuler(0, 60, 0))
assert np.allclose([-0.96592583, 0, -0.25881905, 0], qeuler(0, 390, 0))
def test_conversion_of_yaw(self):
assert np.allclose([1, 0, 0, 0], qeuler(0, 0, 0))
assert np.allclose([0.7071, 0, 0, 0.7071], qeuler(90, 0, 0))
assert np.allclose([0, 0, 0, 1], qeuler(180, 0, 0))
assert np.allclose([-0.7071, 0, 0, 0.7071], qeuler(270, 0, 0))
assert np.allclose([-1, 0, 0, 0], qeuler(360, 0, 0))
