#NEWLINE# def test_3d_rotation_inverse_eye( ) : #NEWLINE# #INDENT# a = ( np . sqrt ( 3.0 ) / 2.0 ) #NEWLINE# b = 0.5 #NEWLINE# rotation_matrix = np . array ( [ [ 1 , 0 , 0 ] , [ 0 , a , b ] , [ 0 , ( - b ) , a ] ] ) #NEWLINE# rotation = Rotation ( rotation_matrix ) #NEWLINE# transformed = rotation . compose_before ( rotation . pseudoinverse ( ) ) #NEWLINE# assert_allclose ( np . eye ( 4 ) , transformed . h_matrix , atol = 1e-15 )