def test_quat2rot2quat():
"""Test quaternion2rot3d and rotmat_to_quaternion consistency."""
n = 1000
orientations = generate.get_random_quat(n)
for i in range(n):
orientation = orientations[i]
rot = convert.quaternion2rot3d(orientation)
quat = convert.rotmat_to_quaternion(rot)
assert np.allclose(orientation, quat) \
or np.allclose(orientation, -quat)
def test_rotmat_to_quaternion_z():
"""Test rotmat_to_quaternion for 90deg rotations along z."""
quat = convert.rotmat_to_quaternion(cst.Rz90)
assert np.allclose(quat, cst.quatz90)
def test_rotmat_to_quaternion_y():
"""Test rotmat_to_quaternion for 90deg rotations along y."""
quat = convert.rotmat_to_quaternion(Ry90)
assert np.allclose(quat, quaty90)