def test_small_rotation(self):
"""Simple test of functionality with small rotation"""
rotation = compose_euler(pi / 10, pi / 10, pi / 10)
alpha, beta, gamma = decompose_euler(rotation)
self.assertAlmostEqual(alpha, pi / 10)
self.assertAlmostEqual(beta, pi / 10)
self.assertAlmostEqual(gamma, pi / 10)
def test_pi_rotation(self):
"""Test the cases of singularity"""
rotation = compose_euler(0, pi, 9 * pi / 10)
alpha, beta, gamma = decompose_euler(rotation)
self.assertAlmostEqual(alpha, 0)
self.assertAlmostEqual(beta, pi)
self.assertAlmostEqual(gamma, 9 * pi / 10)
def test_very_small_rotation(self):
"""Test that the decomposition is stable at very small rotation"""
rotation = compose_euler(pi / 10000, pi / 10000, pi / 10000)
alpha, beta, gamma = decompose_euler(rotation)
self.assertAlmostEqual(alpha, pi / 10000)
self.assertAlmostEqual(beta, pi / 10000)
self.assertAlmostEqual(gamma, pi / 10000)
def test_large_rotation(self):
"""Simple test of functionality with large rotation"""
rotation = compose_euler(9 * pi / 10, 9 * pi / 10, 9 * pi / 10)
alpha, beta, gamma = decompose_euler(rotation)
self.assertAlmostEqual(alpha, 9 * pi / 10)
self.assertAlmostEqual(beta, 9 * pi / 10)
self.assertAlmostEqual(gamma, 9 * pi / 10)
def test_close_to_pi_rotation(self):
"""Test that the decomposition is stable
for a rotation that is close to pi"""
rotation = compose_euler(9999 * pi / 10000, 9999 * pi / 10000,
9999 * pi / 10000)
alpha, beta, gamma = decompose_euler(rotation)
self.assertAlmostEqual(alpha, 9999 * pi / 10000)
self.assertAlmostEqual(beta, 9999 * pi / 10000)
self.assertAlmostEqual(gamma, 9999 * pi / 10000)