def test_trivial(self):
""" Test that a translation_rotation_matrix() reduces to rotation_matrix()
for zero translation """
axis = np.random.random((3,))
angle = np.random.random()
mat = tr.translation_rotation_matrix(angle, axis, translation=[0, 0, 0])
self.assertTrue(tr.is_rotation_matrix(mat))
def test_random(self):
""" Test that translation_rotation_matrix() produces a matrix that correctly
transforms a random point """
pt = np.random.random((3,))
axis = np.random.random((3,))
angle = np.random.random()
translation = np.random.random((3,))
trmat = tr.translation_rotation_matrix(angle, axis, translation=translation)
v1 = tr.transform(trmat, pt) # translated rotated point
# Transform the point once operator at a time
v2 = tr.transform(tr.rotation_matrix(angle, axis), pt)
v2 += translation
self.assertTrue(np.allclose(v1, v2))