def setUp(self):
self.theta1 = 0.123
self.theta2 = math.radians(30)
self.q1 = Quaternion()
# q2 is a quaternion by rotating 0.123 (radians) w.r.t x axis
self.q2 = Quaternion(
Vector4(math.cos(self.theta1 / 2), math.sin(self.theta1 / 2), 0,
0))
# q3 is a quaternion by rotaing 30 (degrees) w.r.t z axis
self.q3 = Quaternion(
Vector4(math.cos(self.theta2 / 2), 0, 0,
math.sin(self.theta2 / 2)))
class TestQuaternion(unittest.TestCase):
def setUp(self):
self.theta1 = 0.123
self.theta2 = math.radians(30)
self.q1 = Quaternion()
# q2 is a quaternion by rotating 0.123 (radians) w.r.t x axis
self.q2 = Quaternion(
Vector4(math.cos(self.theta1 / 2), math.sin(self.theta1 / 2), 0,
0))
# q3 is a quaternion by rotaing 30 (degrees) w.r.t z axis
self.q3 = Quaternion(
Vector4(math.cos(self.theta2 / 2), 0, 0,
math.sin(self.theta2 / 2)))
def test_constructor(self):
np.testing.assert_array_equal(self.q1.as_vector(), Vector4(1, 0, 0, 0))
np.testing.assert_array_almost_equal(
self.q2.as_vector(),
Vector4(math.cos(self.theta1 / 2), math.sin(self.theta1 / 2), 0,
0))
# TODO: def test_quaternion_from_axis_angle(self):
# self.q1.quaternion_from_axis_angle([0, 0, 1], self.theta)
# self.assertTrue(np.allclose(self.q1.values, [0.99810947, 0.06146124, 0, 0]))
def test_to_rotation_matrix(self):
rot1 = self.q1.to_rotation_matrix()
np.testing.assert_array_almost_equal(rot1, np.identity(3))
M2 = Rot3.Rx(self.theta1).matrix()
rot2 = self.q2.to_rotation_matrix()
self.assertTrue(np.allclose(rot2, M2))
M3 = Rot3.Rz(self.theta2).matrix()
rot3 = self.q3.to_rotation_matrix()
np.testing.assert_array_almost_equal(rot3, M3)
def test_matrix_roundtrip(self):
rot2 = self.q2.to_rotation_matrix()
q = Quaternion(rot2)
np.testing.assert_array_almost_equal(q.as_vector(),
self.q2.as_vector())
def test_matrix_roundtrip(self):
rot2 = self.q2.to_rotation_matrix()
q = Quaternion(rot2)
np.testing.assert_array_almost_equal(q.as_vector(),
self.q2.as_vector())