def test_pvr_valid_dcm():
dcm1 = ut.random_dcm()
angle, e = tr.dcm_to_prv(dcm1)
dcm2 = tr.prv_to_dcm(angle, e)
np.testing.assert_almost_equal(dcm2 @ dcm2.T, np.identity(3))
np.testing.assert_almost_equal(np.linalg.det(dcm2), 1)
for i in (0, 1, 2):
np.testing.assert_almost_equal(np.linalg.norm(dcm2[i]), 1)
np.testing.assert_almost_equal(np.linalg.norm(dcm2[:, i]), 1)
def get_prvs(data):
angle = np.zeros(len(time))
e = np.zeros((len(time), 3))
for i in range(len(time)):
angle[i], e[i] = tr.dcm_to_prv(tr.mrp_to_dcm(data[i]))
return angle, e
def test_pvr_reverse():
dcm1 = ut.random_dcm()
angle, e = tr.dcm_to_prv(dcm1)
dcm2 = tr.prv_to_dcm(angle, e)
np.testing.assert_almost_equal(dcm1, dcm2)