def test_rotate(self):
q = Quaternion.from_axis_angle(numpy.array([0, 1, 0]), math.pi / 2.0)
v = q.rotate((1, 0, 0))
self.assertAlmostEqual(0, v[0])
self.assertAlmostEqual(0, v[1])
self.assertAlmostEqual(-1, v[2])
def test_rotate(self):
q = Quaternion.from_axis_angle(numpy.array([0, 1, 0]), math.pi / 2.0)
v = q.rotate((1, 0, 0))
self.assertAlmostEqual( 0, v[0])
self.assertAlmostEqual( 0, v[1])
self.assertAlmostEqual(-1, v[2])
def test_from_axis_angle(self):
theta = math.pi / 5.0
c = math.cos(theta / 2.0)
s = math.sin(theta / 2.0)
q = Quaternion.from_axis_angle(numpy.array([1, -1, 1]), theta)
self.assertAlmostEqual(c, q.w)
self.assertAlmostEqual(s * math.sqrt(1.0 / 3.0), q.x)
self.assertAlmostEqual(-s * math.sqrt(1.0 / 3.0), q.y)
self.assertAlmostEqual(s * math.sqrt(1.0 / 3.0), q.z)
def test_from_axis_angle(self):
theta = math.pi / 5.0
c = math.cos(theta / 2.0)
s = math.sin(theta / 2.0)
q = Quaternion.from_axis_angle(numpy.array([1, -1, 1]), theta)
self.assertAlmostEqual( c, q.w)
self.assertAlmostEqual( s * math.sqrt(1.0 / 3.0), q.x)
self.assertAlmostEqual(-s * math.sqrt(1.0 / 3.0), q.y)
self.assertAlmostEqual( s * math.sqrt(1.0 / 3.0), q.z)
