def test_vectorised_quat2axangle(random_quats):
fast = vectorised_quat2axangle(random_quats)
stored_axangles = np.ones((random_quats.shape[0], 4))
for i, row in enumerate(random_quats):
temp_ax = quat2axangle(row)[0]
temp_angle = quat2axangle(row)[1]
for j in [0, 1, 2]:
stored_axangles[i, j] = temp_ax[j]
stored_axangles[i, 3] = temp_angle #in radians!
assert np.allclose(fast, stored_axangles)
def test_small_quat(self):
qdata = np.asarray([[1e-8, 1e-8, 1e-8, 1e-8]])
edata = vectorised_quat2axangle(qdata)
def test_inf_quat(self):
qdata = np.asarray([[0, np.inf, 1, 1]])
edata = vectorised_quat2axangle(qdata)
