def test_compose(self):
expected_quat = [[+2],
[-1],
[-3],
[+0]]
r_ident_d = Rotation(ctypes.c_double)
r_ident_f = Rotation(ctypes.c_float)
r_other_d = Rotation.from_quaternion(expected_quat, ctypes.c_double)
r_other_f = Rotation.from_quaternion(expected_quat, ctypes.c_float)
r_res_d = r_ident_d.compose(r_other_d)
nose.tools.assert_is_not(r_other_d, r_res_d)
numpy.testing.assert_equal(r_res_d, r_other_d)
numpy.testing.assert_equal(r_res_d.quaternion(), expected_quat)
r_res_f = r_ident_f.compose(r_other_f)
nose.tools.assert_is_not(r_other_f, r_res_f)
numpy.testing.assert_equal(r_res_f, r_other_f)
numpy.testing.assert_equal(r_res_f.quaternion(), expected_quat)
# Should also work with multiply operator
r_res_d = r_ident_d * r_other_d
nose.tools.assert_is_not(r_other_d, r_res_d)
numpy.testing.assert_equal(r_res_d, r_other_d)
numpy.testing.assert_equal(r_res_d.quaternion(), expected_quat)
r_res_f = r_ident_f * r_other_f
nose.tools.assert_is_not(r_other_f, r_res_f)
numpy.testing.assert_equal(r_res_f, r_other_f)
numpy.testing.assert_equal(r_res_f.quaternion(), expected_quat)
# Rotation of non-congruent types should be converted automatically
r_res_d = r_ident_d.compose(r_other_f)
nose.tools.assert_is_not(r_res_d, r_other_f)
numpy.testing.assert_equal(r_res_d.quaternion(),
r_other_f.quaternion())
numpy.testing.assert_equal(r_res_d.quaternion(), expected_quat)
r_res_f = r_ident_f.compose(r_other_d)
nose.tools.assert_is_not(r_res_f, r_other_f)
numpy.testing.assert_equal(r_res_f.quaternion(),
r_other_f.quaternion())
numpy.testing.assert_equal(r_res_f.quaternion(), expected_quat)
r_res_d = r_ident_d * r_other_f
nose.tools.assert_is_not(r_res_d, r_other_f)
numpy.testing.assert_equal(r_res_d.quaternion(),
r_other_f.quaternion())
numpy.testing.assert_equal(r_res_d.quaternion(), expected_quat)
r_res_f = r_ident_f * r_other_d
nose.tools.assert_is_not(r_res_f, r_other_f)
numpy.testing.assert_equal(r_res_f.quaternion(),
r_other_f.quaternion())
numpy.testing.assert_equal(r_res_f.quaternion(), expected_quat)
def test_compose(self):
expected_quat = [[+2], [-1], [-3], [+0]]
r_ident_d = Rotation(ctypes.c_double)
r_ident_f = Rotation(ctypes.c_float)
r_other_d = Rotation.from_quaternion(expected_quat, ctypes.c_double)
r_other_f = Rotation.from_quaternion(expected_quat, ctypes.c_float)
r_res_d = r_ident_d.compose(r_other_d)
nose.tools.assert_is_not(r_other_d, r_res_d)
numpy.testing.assert_equal(r_res_d, r_other_d)
numpy.testing.assert_equal(r_res_d.quaternion(), expected_quat)
r_res_f = r_ident_f.compose(r_other_f)
nose.tools.assert_is_not(r_other_f, r_res_f)
numpy.testing.assert_equal(r_res_f, r_other_f)
numpy.testing.assert_equal(r_res_f.quaternion(), expected_quat)
# Should also work with multiply operator
r_res_d = r_ident_d * r_other_d
nose.tools.assert_is_not(r_other_d, r_res_d)
numpy.testing.assert_equal(r_res_d, r_other_d)
numpy.testing.assert_equal(r_res_d.quaternion(), expected_quat)
r_res_f = r_ident_f * r_other_f
nose.tools.assert_is_not(r_other_f, r_res_f)
numpy.testing.assert_equal(r_res_f, r_other_f)
numpy.testing.assert_equal(r_res_f.quaternion(), expected_quat)
# Rotation of non-congruent types should be converted automatically
r_res_d = r_ident_d.compose(r_other_f)
nose.tools.assert_is_not(r_res_d, r_other_f)
numpy.testing.assert_equal(r_res_d.quaternion(),
r_other_f.quaternion())
numpy.testing.assert_equal(r_res_d.quaternion(), expected_quat)
r_res_f = r_ident_f.compose(r_other_d)
nose.tools.assert_is_not(r_res_f, r_other_f)
numpy.testing.assert_equal(r_res_f.quaternion(),
r_other_f.quaternion())
numpy.testing.assert_equal(r_res_f.quaternion(), expected_quat)
r_res_d = r_ident_d * r_other_f
nose.tools.assert_is_not(r_res_d, r_other_f)
numpy.testing.assert_equal(r_res_d.quaternion(),
r_other_f.quaternion())
numpy.testing.assert_equal(r_res_d.quaternion(), expected_quat)
r_res_f = r_ident_f * r_other_d
nose.tools.assert_is_not(r_res_f, r_other_f)
numpy.testing.assert_equal(r_res_f.quaternion(),
r_other_f.quaternion())
numpy.testing.assert_equal(r_res_f.quaternion(), expected_quat)
def test_compose(self):
# Normalize quaternaion vector.
expected_quat = array_normalize([+2., -1., -3., +0.])
r_ident_d = Rotation('d')
r_ident_f = Rotation('f')
r_other_d = Rotation.from_quaternion(expected_quat, 'd')
r_other_f = Rotation.from_quaternion(expected_quat, 'f')
r_res_d = r_ident_d.compose(r_other_d)
nose.tools.assert_is_not(r_other_d, r_res_d)
numpy.testing.assert_equal(r_res_d, r_other_d)
numpy.testing.assert_equal(r_res_d.quaternion(), expected_quat)
r_res_f = r_ident_f.compose(r_other_f)
nose.tools.assert_is_not(r_other_f, r_res_f)
numpy.testing.assert_equal(r_res_f, r_other_f)
numpy.testing.assert_allclose(r_res_f.quaternion(), expected_quat,
1e-7)
# Should also work with multiply operator
r_res_d = r_ident_d * r_other_d
nose.tools.assert_is_not(r_other_d, r_res_d)
numpy.testing.assert_equal(r_res_d, r_other_d)
numpy.testing.assert_equal(r_res_d.quaternion(), expected_quat)
r_res_f = r_ident_f * r_other_f
nose.tools.assert_is_not(r_other_f, r_res_f)
numpy.testing.assert_equal(r_res_f, r_other_f)
numpy.testing.assert_allclose(r_res_f.quaternion(), expected_quat,
1e-7)
# Rotation of non-congruent types should be converted automatically
r_res_d = r_ident_d.compose(r_other_f)
nose.tools.assert_is_not(r_res_d, r_other_f)
numpy.testing.assert_allclose(r_res_d.quaternion(),
r_other_f.quaternion(), 1e-7)
numpy.testing.assert_allclose(r_res_d.quaternion(), expected_quat,
1e-7)
r_res_f = r_ident_f.compose(r_other_d)
nose.tools.assert_is_not(r_res_f, r_other_f)
numpy.testing.assert_allclose(r_res_f.quaternion(),
r_other_f.quaternion(), 1e-7)
numpy.testing.assert_allclose(r_res_f.quaternion(), expected_quat,
1e-7)
# Equality check between types should pass due to integrety resolution
# inside function.
r_res_d = r_ident_d * r_other_f
nose.tools.assert_is_not(r_res_d, r_other_f)
numpy.testing.assert_allclose(r_res_d.quaternion(),
r_other_f.quaternion(), 1e-7)
numpy.testing.assert_allclose(r_res_d.quaternion(), expected_quat,
1e-7)
r_res_f = r_ident_f * r_other_d
nose.tools.assert_is_not(r_res_f, r_other_f)
numpy.testing.assert_equal(r_res_f.quaternion(),
r_other_f.quaternion())
numpy.testing.assert_allclose(r_res_f.quaternion(), expected_quat,
1e-7)
def test_compose(self):
# Normalize quaternaion vector.
expected_quat = array_normalize([+2., -1., -3., +0.])
r_ident_d = Rotation('d')
r_ident_f = Rotation('f')
r_other_d = Rotation.from_quaternion(expected_quat, 'd')
r_other_f = Rotation.from_quaternion(expected_quat, 'f')
r_res_d = r_ident_d.compose(r_other_d)
nose.tools.assert_is_not(r_other_d, r_res_d)
numpy.testing.assert_equal(r_res_d, r_other_d)
numpy.testing.assert_equal(r_res_d.quaternion(), expected_quat)
r_res_f = r_ident_f.compose(r_other_f)
nose.tools.assert_is_not(r_other_f, r_res_f)
numpy.testing.assert_equal(r_res_f, r_other_f)
numpy.testing.assert_allclose(r_res_f.quaternion(), expected_quat,
1e-7)
# Should also work with multiply operator
r_res_d = r_ident_d * r_other_d
nose.tools.assert_is_not(r_other_d, r_res_d)
numpy.testing.assert_equal(r_res_d, r_other_d)
numpy.testing.assert_equal(r_res_d.quaternion(), expected_quat)
r_res_f = r_ident_f * r_other_f
nose.tools.assert_is_not(r_other_f, r_res_f)
numpy.testing.assert_equal(r_res_f, r_other_f)
numpy.testing.assert_allclose(r_res_f.quaternion(), expected_quat,
1e-7)
# Rotation of non-congruent types should be converted automatically
r_res_d = r_ident_d.compose(r_other_f)
nose.tools.assert_is_not(r_res_d, r_other_f)
numpy.testing.assert_allclose(r_res_d.quaternion(),
r_other_f.quaternion(),
1e-7)
numpy.testing.assert_allclose(r_res_d.quaternion(), expected_quat,
1e-7)
r_res_f = r_ident_f.compose(r_other_d)
nose.tools.assert_is_not(r_res_f, r_other_f)
numpy.testing.assert_allclose(r_res_f.quaternion(),
r_other_f.quaternion(),
1e-7)
numpy.testing.assert_allclose(r_res_f.quaternion(), expected_quat,
1e-7)
# Equality check between types should pass due to integrety resolution
# inside function.
r_res_d = r_ident_d * r_other_f
nose.tools.assert_is_not(r_res_d, r_other_f)
numpy.testing.assert_allclose(r_res_d.quaternion(),
r_other_f.quaternion(),
1e-7)
numpy.testing.assert_allclose(r_res_d.quaternion(), expected_quat,
1e-7)
r_res_f = r_ident_f * r_other_d
nose.tools.assert_is_not(r_res_f, r_other_f)
numpy.testing.assert_equal(r_res_f.quaternion(),
r_other_f.quaternion())
numpy.testing.assert_allclose(r_res_f.quaternion(), expected_quat,
1e-7)
