def test_rolling_rot_four_values():
"""
Test rolling mean returns vector value for single entry
"""
rvec0 = [0.0, 0.0, 0.0]
rvec1 = [np.NaN, np.NaN, np.NaN]
rvec2 = [0.0, 0.0, -math.pi/2.0]
rvec3 = [0.0, math.pi/3.0, 0.0]
expected_answer0 = reg._rvec_to_quaternion([0.0, 0.0, -math.pi/4.0]) # pylint: disable=protected-access
#the next ones more of a regression test, I haven't independently
#calculated this answer.
expected_answer1 = [-0.87602709, 0.0, -0.27843404, 0.39376519]
mean_buffer = reg.RollingMeanRotation(buffer_size=3)
mean_buffer.pop(rvec0)
mean_buffer.pop(rvec1)
mean_buffer.pop(rvec2)
assert np.allclose(expected_answer0, mean_buffer.getmean(), rtol=1e-05,
atol=1e-6)
mean_buffer.pop(rvec3)
assert np.allclose(expected_answer1, mean_buffer.getmean(), rtol=1e-05,
atol=1e-10)
def test_rolling_rot_returns_nan():
"""
Tests for rolling mean rotation class.
"""
mean_buffer = reg.RollingMeanRotation(buffer_size=5)
assert np.isnan(mean_buffer.getmean()).all
def test_r_rot_sgl_value_sgl_buff():
"""
Test rolling mean rotation returns vector value for single entry
"""
rvec = np.array([0.0, 0.0, -math.pi/2.0])
expected_quaternion = np.array([math.cos(math.pi/4.0), 0.0, 0.0,
-1.0 * math.sin(math.pi/4.0)])
mean_buffer = reg.RollingMeanRotation(buffer_size=1)
mean_buffer.pop(rvec)
assert np.allclose(expected_quaternion, mean_buffer.getmean(),
rtol=1e-05, atol=1e-10)
def test_rolling_rotation_no_buffer():
"""
Try doing a rolling rotation mean with zero buffer.
"""
with pytest.raises(ValueError):
_ = reg.RollingMeanRotation(buffer_size=0)