def test_from_frame():
f1 = Frame([2, 2, 2], [0.12, 0.58, 0.81], [-0.80, 0.53, -0.26])
f2 = Frame([1, 1, 1], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15])
T = Transformation.from_frame_to_frame(f1, f2)
f1.transform(T)
assert f1 == f2
f1 = Frame([1, 1, 1], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15])
T = Transformation.from_frame(f1)
f2 = Frame.from_transformation(T)
print(f1 == f2)
f = Frame([1, 1, 1], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15])
T = Transformation.from_frame(f)
Tinv = T.inverse()
I = Transformation()
print(I == T * Tinv)
f1 = Frame([2, 2, 2], [0.12, 0.58, 0.81], [-0.80, 0.53, -0.26])
f2 = Frame([1, 1, 1], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15])
T = Transformation.from_frame_to_frame(f1, f2)
f1.transform(T)
print(f1 == f2)
f = Frame([1, 1, 1], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15])
T = Transformation.from_frame(f)
p = Point(0, 0, 0)
p.transform(T)
print(allclose(f.point, p))
f1 = Frame([1, 1, 1], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15])
T = Transformation.from_frame(f1)
points = [[1.0, 1.0, 1.0], [1.68, 1.68, 1.27], [0.33, 1.73, 0.85]]
points = transform_points(points, T)
trans1 = [1, 2, 3]
angle1 = [-2.142, 1.141, -0.142]
