def test_quaternion_conversions(self, rng): # noqa: F811
"""
Bidirectional rotor - quaternion test. This needs work but is a reasonable start
"""
from clifford.tools.g3 import rotor_to_quaternion, quaternion_to_rotor
from clifford.tools.g3c import random_rotation_rotor
for i in range(1000):
rotor = random_rotation_rotor(rng=rng)
quaternion = rotor_to_quaternion(rotor)
rotor_return = quaternion_to_rotor(quaternion)
testing.assert_almost_equal(rotor.value, rotor_return.value)
def test_quaternion_conversions(self):
"""
Bidirectional rotor - quaternion test. This needs work but is a reasonable start
"""
from clifford.g3c import layout
from clifford.tools.g3 import rotor_to_quaternion, quaternion_to_rotor
from clifford.tools.g3c import random_rotation_rotor
for i in range(1000):
rotor = random_rotation_rotor()
quaternion = rotor_to_quaternion(rotor)
rotor_return = quaternion_to_rotor(quaternion)
testing.assert_almost_equal(rotor.value, rotor_return.value)
def test_find_rotor_aligning_vectors(self, rng): # noqa: F811
"""
Currently fails, needs to be dug into
"""
from clifford.g3c import layout
e1 = layout.blades['e1']
e2 = layout.blades['e2']
from clifford.tools.g3 import random_euc_mv, random_rotation_rotor, rotor_align_vecs
u_list = [random_euc_mv(rng=rng) for i in range(50)]
for i in range(100):
r = random_rotation_rotor(rng=rng)
v_list = [r * u * ~r for u in u_list]
r_2 = rotor_align_vecs(u_list, v_list)
print(r_2)
print(r)
testing.assert_almost_equal(r.value, r_2.value)
def test_find_rotor_aligning_vectors(self):
"""
Currently fails, needs to be dug into
"""
from clifford.g3c import layout
e1 = layout.blades['e1']
e2 = layout.blades['e2']
from clifford.tools.g3 import random_euc_mv, random_rotation_rotor, rotor_align_vecs
u_list = [random_euc_mv() for i in range(50)]
for i in range(100):
r = random_rotation_rotor()
v_list = [r*u*~r for u in u_list]
r_2 = rotor_align_vecs(u_list, v_list)
print(r_2)
print(r)
testing.assert_almost_equal(r.value, r_2.value)
def test_rotation_matrix_conversions(self):
"""
Bidirectional rotor - rotation matrix test. This needs work but is a reasonable start
"""
from clifford.g3c import layout, up, down
from clifford.tools.g3 import rotation_matrix_to_rotor, rotor_to_rotation_matrix
from clifford.tools.g3c import random_rotation_rotor, random_conformal_point, apply_rotor
for i in range(1000):
rotor = random_rotation_rotor()
# Check that we can map up and back
Rmat = rotor_to_rotation_matrix(rotor)
rotor_return = rotation_matrix_to_rotor(Rmat)
testing.assert_almost_equal(rotor.value, rotor_return.value)
# Check that the rotations do the same thing
A = random_conformal_point()
B = down(apply_rotor(A, rotor)).value[1:4]
C = Rmat @ down(A).value[1:4]
np.testing.assert_almost_equal(B, C)
def test_rotation_matrix_conversions(self):
"""
Bidirectional rotor - rotation matrix test. This needs work but is a reasonable start
"""
from clifford.g3c import layout, up, down
from clifford.tools.g3 import rotation_matrix_to_rotor, rotor_to_rotation_matrix
from clifford.tools.g3c import random_rotation_rotor, random_conformal_point, apply_rotor
for i in range(1000):
rotor = random_rotation_rotor()
# Check that we can map up and back
Rmat = rotor_to_rotation_matrix(rotor)
rotor_return = rotation_matrix_to_rotor(Rmat)
testing.assert_almost_equal(rotor.value, rotor_return.value)
# Check that the rotations do the same thing
A = random_conformal_point()
B = down(apply_rotor(A, rotor)).value[1:4]
C = Rmat @ down(A).value[1:4]
np.testing.assert_almost_equal(B, C)