def testDynamicConvergence(): for i in range(3): t = np.arange(0, 10, dt) trajectory = RandomRotationTrajectory(t) for imp in getImplementations(orientation, orientation.OrientationFilter): params = filterParameters.get(imp, {}) filter = imp(initialRotation=Quaternion(), initialTime=trajectory.startTime, initialRotationalVelocity=trajectory.rotation(trajectory.startTime) .rotateFrame(trajectory.rotationalVelocity(trajectory.startTime)), **params) if imp not in [orientation.GyroIntegrator, orientation.DistLinAccelCF]: yield checkDynamicConvergence, filter, trajectory
def testOrientationFilters(): for i in range(3): t = np.arange(0, 10, dt) trajectory = RandomRotationTrajectory(t) for imp in getImplementations(orientation, orientation.OrientationFilter): params = filterParameters.get(imp, {}) filter = imp( initialTime=trajectory.startTime, initialRotation=trajectory.rotation(trajectory.startTime), initialRotationalVelocity=trajectory.rotation(trajectory.startTime) .rotateFrame(trajectory.rotationalVelocity(trajectory.startTime)), **params) yield checkOrientationFilter, filter, trajectory
def testOrientationFilters(): for i in range(3): t = np.arange(0, 10, dt) trajectory = RandomRotationTrajectory(t) for imp in getImplementations(orientation, orientation.OrientationFilter): params = filterParameters.get(imp, {}) filter = imp( initialTime=trajectory.startTime, initialRotation=trajectory.rotation(trajectory.startTime), initialRotationalVelocity=trajectory.rotation( trajectory.startTime).rotateFrame( trajectory.rotationalVelocity(trajectory.startTime)), **params) yield checkOrientationFilter, filter, trajectory
def testDynamicConvergence(): for i in range(3): t = np.arange(0, 10, dt) trajectory = RandomRotationTrajectory(t) for imp in getImplementations(orientation, orientation.OrientationFilter): params = filterParameters.get(imp, {}) filter = imp(initialRotation=Quaternion(), initialTime=trajectory.startTime, initialRotationalVelocity=trajectory.rotation( trajectory.startTime).rotateFrame( trajectory.rotationalVelocity( trajectory.startTime)), **params) if imp not in [ orientation.GyroIntegrator, orientation.DistLinAccelCF ]: yield checkDynamicConvergence, filter, trajectory