Python solve_rotation_ap示例

示例#1

def solve_rotation_test_270L(atol=1e-15):
    g1 = np.array([0, -1, 0, 0])
    g2 = np.array([0, 1, -1, 0])
    R = solve_rotation_ap(g1, g2)

    e0 = np.array([0, 1, 1, 1])
    e1 = np.array([0, 0, -1, 0])
    e2 = np.array([0, 0, 0, 0])

    t0 = np.array([0, 1, -1, 1])
    t1 = np.array([0, -1, 0, 0])
    t2 = np.array([0, 0, 0, 0])

    assert_allclose(R.dot(e0), t0, atol=atol)
    assert_allclose(R.dot(e1), t1, atol=atol)
    assert_allclose(R.dot(e2), t2, atol=atol)

示例#2

文件： polytope_test.py 项目： tulip-control/polytope

def solve_rotation_test_270L(atol=1e-15):
    g1 = np.array([0, -1, 0, 0])
    g2 = np.array([0, 1, -1, 0])
    R = solve_rotation_ap(g1, g2)

    e0 = np.array([0, 1, 1, 1])
    e1 = np.array([0, 0, -1, 0])
    e2 = np.array([0, 0, 0, 0])

    t0 = np.array([0, 1, -1, 1])
    t1 = np.array([0, -1, 0, 0])
    t2 = np.array([0, 0, 0, 0])

    assert_allclose(R.dot(e0), t0, atol=atol)
    assert_allclose(R.dot(e1), t1, atol=atol)
    assert_allclose(R.dot(e2), t2, atol=atol)