def test_orthonormal_basis(self):
R = mut.ComputeBasisFromAxis(axis_index=0, axis_W=[1, 0, 0])
self.assertAlmostEqual(np.linalg.det(R), 1.0)
self.assertTrue(np.allclose(R.dot(R.T), np.eye(3)))
def test_orthonormal_basis(self):
with catch_drake_warnings(expected_count=1):
R = mut.ComputeBasisFromAxis(axis_index=0, axis_W=[1, 0, 0])
self.assertAlmostEqual(np.linalg.det(R), 1.0)
self.assertTrue(np.allclose(R.dot(R.T), np.eye(3)))
