def test_average_quats():
"""Test averaging of quaternions."""
sq2 = 1. / np.sqrt(2.)
quats = np.array(
[[0, sq2, sq2], [0, sq2, sq2], [0, sq2, 0], [0, 0, sq2], [sq2, 0, 0]],
float)
# In MATLAB:
# quats = [[0, sq2, sq2, 0]; [0, sq2, sq2, 0];
# [0, sq2, 0, sq2]; [0, 0, sq2, sq2]; [sq2, 0, 0, sq2]];
expected = [
quats[0], quats[0], [0, 0.788675134594813, 0.577350269189626],
[0, 0.657192299694123, 0.657192299694123],
[0.100406058540540, 0.616329446922803, 0.616329446922803]
]
# Averaging the first two should give the same thing:
for lim, ex in enumerate(expected):
assert_allclose(_average_quats(quats[:lim + 1]), ex, atol=1e-7)
quats[1] *= -1 # same quaternion (hidden value is zero here)!
rot_0, rot_1 = quat_to_rot(quats[:2])
assert_allclose(rot_0, rot_1, atol=1e-7)
for lim, ex in enumerate(expected):
assert_allclose(_average_quats(quats[:lim + 1]), ex, atol=1e-7)
# Assert some symmetry
count = 0
extras = [[sq2, sq2, 0]] + list(np.eye(3))
for quat in np.concatenate((quats, expected, extras)):
if np.isclose(_quat_real(quat), 0., atol=1e-7): # can flip sign
count += 1
angle = _angle_between_quats(quat, -quat)
assert_allclose(angle, 0., atol=1e-7)
rot_0, rot_1 = quat_to_rot(np.array((quat, -quat)))
assert_allclose(rot_0, rot_1, atol=1e-7)
assert count == 4 + len(extras)
def test_average_quats():
"""Test averaging of quaternions."""
sq2 = 1. / np.sqrt(2.)
quats = np.array(
[[0, sq2, sq2], [0, sq2, sq2], [0, sq2, 0], [0, 0, sq2], [sq2, 0, 0]],
float)
# In MATLAB:
# quats = [[0, sq2, sq2, 0]; [0, sq2, sq2, 0];
# [0, sq2, 0, sq2]; [0, 0, sq2, sq2]; [sq2, 0, 0, sq2]];
expected = [
quats[0], quats[0], [0, 0.788675134594813, 0.577350269189626],
[0, 0.657192299694123, 0.657192299694123],
[0.100406058540540, 0.616329446922803, 0.616329446922803]
]
# Averaging the first two should give the same thing:
for lim, ex in enumerate(expected):
assert_allclose(_average_quats(quats[:lim + 1]), ex, atol=1e-7)
quats[1] *= -1 # same quaternion (hidden value is zero here)!
rot_0, rot_1 = quat_to_rot(quats[:2])
assert_allclose(rot_0, rot_1, atol=1e-7)
for lim, ex in enumerate(expected):
assert_allclose(_average_quats(quats[:lim + 1]), ex, atol=1e-7)
def test_average_quats():
"""Test averaging of quaternions."""
sq2 = 1. / np.sqrt(2.)
quats = np.array([[0, sq2, sq2],
[0, sq2, sq2],
[0, sq2, 0],
[0, 0, sq2],
[sq2, 0, 0]], float)
# In MATLAB:
# quats = [[0, sq2, sq2, 0]; [0, sq2, sq2, 0];
# [0, sq2, 0, sq2]; [0, 0, sq2, sq2]; [sq2, 0, 0, sq2]];
expected = [quats[0],
quats[0],
[0, 0.788675134594813, 0.577350269189626],
[0, 0.657192299694123, 0.657192299694123],
[0.100406058540540, 0.616329446922803, 0.616329446922803]]
# Averaging the first two should give the same thing:
for lim, ex in enumerate(expected):
assert_allclose(_average_quats(quats[:lim + 1]), ex, atol=1e-7)
quats[1] *= -1 # same quaternion (hidden value is zero here)!
rot_0, rot_1 = quat_to_rot(quats[:2])
assert_allclose(rot_0, rot_1, atol=1e-7)
for lim, ex in enumerate(expected):
assert_allclose(_average_quats(quats[:lim + 1]), ex, atol=1e-7)
