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_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())