def test_inverse_equivalence(self):
q = [5.77350000e-01, 5.77350000e-01, 5.77350000e-01, 6.12323400e-17]
result = matrix33.create_from_quaternion(quaternion.inverse(q))
expected = matrix33.inverse(matrix33.create_from_quaternion(q))
np.testing.assert_almost_equal(result, expected, decimal=5)
q = quaternion.create_from_x_rotation(0.5)
result = matrix33.create_from_inverse_of_quaternion(q)
expected = matrix33.inverse(matrix33.create_from_quaternion(q))
np.testing.assert_almost_equal(result, expected, decimal=5)
def test_inverse_equivalence(self):
q = [5.77350000e-01, 5.77350000e-01, 5.77350000e-01, 6.12323400e-17]
result = matrix33.create_from_quaternion(quaternion.inverse(q))
expected = matrix33.inverse(matrix33.create_from_quaternion(q))
np.testing.assert_almost_equal(result, expected, decimal=5)
q = quaternion.create_from_x_rotation(0.5)
result = matrix33.create_from_inverse_of_quaternion(q)
expected = matrix33.inverse(matrix33.create_from_quaternion(q))
np.testing.assert_almost_equal(result, expected, decimal=5)
def test_operators_matrix33(self):
m1 = Matrix33.identity()
m2 = Matrix33.from_x_rotation(0.5)
# add
self.assertTrue(np.array_equal(m1 + m2, matrix33.create_identity() + matrix33.create_from_x_rotation(0.5)))
# subtract
self.assertTrue(np.array_equal(m1 - m2, matrix33.create_identity() - matrix33.create_from_x_rotation(0.5)))
# multiply
self.assertTrue(np.array_equal(m1 * m2, matrix33.multiply(matrix33.create_from_x_rotation(0.5), matrix33.create_identity())))
# divide
self.assertRaises(ValueError, lambda: m1 / m2)
# inverse
self.assertTrue(np.array_equal(~m2, matrix33.inverse(matrix33.create_from_x_rotation(0.5))))
# ==
self.assertTrue(Matrix33() == Matrix33())
self.assertFalse(Matrix33() == Matrix33([1. for n in range(9)]))
# !=
self.assertTrue(Matrix33() != Matrix33([1. for n in range(9)]))
self.assertFalse(Matrix33() != Matrix33())
def test_inverse(self):
m = matrix33.create_from_y_rotation(np.pi)
result = matrix33.inverse(m)
self.assertTrue(
np.allclose(result, matrix33.create_from_y_rotation(-np.pi)))
def test_inverse(self):
m1 = Matrix33.identity() * Matrix33.from_x_rotation(0.5)
m = m1.inverse
self.assertTrue(np.array_equal(m, matrix33.inverse(m1)))
def test_inverse(self):
m1 = Matrix33.identity() * Matrix33.from_x_rotation(0.5)
m = m1.inverse
self.assertTrue(np.array_equal(m, matrix33.inverse(m1)))
def test_inverse(self):
m = matrix33.create_from_y_rotation(np.pi)
result = matrix33.inverse(m)
self.assertTrue(np.allclose(result, matrix33.create_from_y_rotation(-np.pi)))