def test_basic_2d_rotation_axis_angle(): rotation_matrix = np.array([[0, 1], [-1, 0]]) rotation = Rotation(rotation_matrix) axis, angle = rotation.axis_and_angle_of_rotation() assert_allclose(axis, np.array([0, 0, 1])) assert_allclose((90 * np.pi)/180, angle)
def test_basic_3d_rotation_axis_angle(): a = np.sqrt(3.0) / 2.0 b = 0.5 # this is a rotation of -30 degrees about the x axis rotation_matrix = np.array([[1, 0, 0], [0, a, b], [0, -b, a]]) rotation = Rotation(rotation_matrix) axis, angle = rotation.axis_and_angle_of_rotation() assert_allclose(axis, np.array([1, 0, 0])) assert_allclose((-30 * np.pi) / 180, angle)
def test_basic_3d_rotation_axis_angle(): a = np.sqrt(3.0)/2.0 b = 0.5 # this is a rotation of -30 degrees about the x axis rotation_matrix = np.array([[1, 0, 0], [0, a, b], [0, -b, a]]) rotation = Rotation(rotation_matrix) axis, angle = rotation.axis_and_angle_of_rotation() assert_allclose(axis, np.array([1, 0, 0])) assert_allclose((-30 * np.pi)/180, angle)