Module Expr Str Import alias Import alias identifier ImportFrom alias ImportFrom alias identifier ImportFrom alias identifier ImportFrom alias ImportFrom alias ImportFrom alias alias Assign NameStore AttributeLoad Call AttributeLoad NameLoad attr AttributeLoad NameLoad attr attr Assign NameStore ListLoad Assign NameStore Call AttributeLoad NameLoad attr BinOpMult UnaryOpUSub NameLoad Num BinOpMult NameLoad Num BinOpDiv NameLoad Num For NameStore NameLoad body For NameStore NameLoad body For NameStore NameLoad body Expr Call AttributeLoad NameLoad attr TupleLoad NameLoad NameLoad NameLoad FunctionDef arguments args NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Return Call AttributeLoad NameLoad attr ListLoad ListLoad Num Num Num ListLoad Num NameLoad UnaryOpUSub NameLoad ListLoad Num NameLoad NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Return Call AttributeLoad NameLoad attr ListLoad ListLoad NameLoad Num NameLoad ListLoad Num Num Num ListLoad UnaryOpUSub NameLoad Num NameLoad decorator_list FunctionDef arguments args NameParam defaults body Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Return Call AttributeLoad NameLoad attr ListLoad ListLoad NameLoad UnaryOpUSub NameLoad Num ListLoad NameLoad NameLoad Num ListLoad Num Num Num decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults body Assign NameStore AttributeLoad NameLoad attr Assign NameStore AttributeLoad NameLoad attr Return ListLoad ListLoad BinOpMult Call NameLoad NameLoad Call NameLoad NameLoad BinOpMult UnaryOpUSub Call NameLoad NameLoad Call NameLoad NameLoad Call NameLoad NameLoad ListLoad BinOpAdd BinOpMult Call NameLoad NameLoad Call NameLoad NameLoad BinOpMult BinOpMult Call NameLoad NameLoad Call NameLoad NameLoad Call NameLoad NameLoad BinOpSub BinOpMult Call NameLoad NameLoad Call NameLoad NameLoad BinOpMult BinOpMult Call NameLoad NameLoad Call NameLoad NameLoad Call NameLoad NameLoad BinOpMult UnaryOpUSub Call NameLoad NameLoad Call NameLoad NameLoad ListLoad BinOpSub BinOpMult Call NameLoad NameLoad Call NameLoad NameLoad BinOpMult BinOpMult Call NameLoad NameLoad Call NameLoad NameLoad Call NameLoad NameLoad BinOpAdd BinOpMult Call NameLoad NameLoad Call NameLoad NameLoad BinOpMult BinOpMult Call NameLoad NameLoad Call NameLoad NameLoad Call NameLoad NameLoad BinOpMult Call NameLoad NameLoad Call NameLoad NameLoad decorator_list FunctionDef arguments args NameParam defaults body If UnaryOpNot Call AttributeLoad NameLoad attr Call AttributeLoad AttributeLoad NameLoad attr attr NameLoad Num body Return NameLoad Return Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr Num Call AttributeLoad NameLoad attr NameLoad AttributeLoad NameLoad attr decorator_list FunctionDef arguments args defaults body Assign NameStore Num Assign NameStore Num Assign NameStore Num Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr Num NameLoad Assign NameStore Call AttributeLoad NameLoad attr Num Num NameLoad Expr Yield TupleLoad NameLoad Call NameLoad NameLoad Expr Yield TupleLoad NameLoad Call NameLoad NameLoad Expr Yield TupleLoad NameLoad Call NameLoad NameLoad Expr Yield TupleLoad NameLoad Call NameLoad NameLoad Expr Yield TupleLoad NameLoad Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr NameLoad NameLoad Expr Yield TupleLoad NameLoad Call AttributeLoad NameLoad attr CompareEq Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr keyword NameLoad Expr Yield TupleLoad NameLoad Call AttributeLoad NameLoad attr CompareEq Call AttributeLoad NameLoad attr Num NameLoad Call AttributeLoad NameLoad attr keyword NameLoad Expr Yield TupleLoad NameLoad Call AttributeLoad NameLoad attr CompareEq Call AttributeLoad NameLoad attr Num Num NameLoad Call AttributeLoad NameLoad attr keyword NameLoad Expr Yield TupleLoad NameLoad Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr keyword UnaryOpUSub NameLoad Call AttributeLoad AttributeLoad NameLoad attr attr Call AttributeLoad NameLoad attr keyword NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore Call AttributeLoad NameLoad attr Expr Yield TupleLoad NameLoad NameLoad Call AttributeLoad NameLoad attr Num For TupleStore NameStore NameStore NameStore NameLoad body Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Yield TupleLoad NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call NameLoad NameLoad Call AttributeLoad NameLoad attr Call NameLoad NameLoad Call NameLoad NameLoad Expr Yield TupleLoad NameLoad NameLoad NameLoad Assign TupleStore NameStore NameStore NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad Expr Yield TupleLoad NameLoad NameLoad NameLoad decorator_list FunctionDef arguments args NameParam NameParam NameParam defaults Num Num Num body Assign NameStore AttributeLoad NameLoad attr Assign NameStore AttributeLoad NameLoad attr Return TupleLoad BinOpSub BinOpMult BinOpMult Call NameLoad BinOpMult Num NameLoad Call NameLoad BinOpMult Num NameLoad Call NameLoad BinOpMult Num NameLoad BinOpMult BinOpMult Call NameLoad BinOpMult Num NameLoad Call NameLoad BinOpMult Num NameLoad Call NameLoad BinOpMult Num NameLoad BinOpAdd BinOpMult BinOpMult Call NameLoad BinOpMult Num NameLoad Call NameLoad BinOpMult Num NameLoad Call NameLoad BinOpMult Num NameLoad BinOpMult BinOpMult Call NameLoad BinOpMult Num NameLoad Call NameLoad BinOpMult Num NameLoad Call NameLoad BinOpMult Num NameLoad BinOpSub BinOpMult BinOpMult Call NameLoad BinOpMult Num NameLoad Call NameLoad BinOpMult Num NameLoad Call NameLoad BinOpMult Num NameLoad BinOpMult BinOpMult Call NameLoad BinOpMult Num NameLoad Call NameLoad BinOpMult Num NameLoad Call NameLoad BinOpMult Num NameLoad BinOpAdd BinOpMult BinOpMult Call NameLoad BinOpMult Num NameLoad Call NameLoad BinOpMult Num NameLoad Call NameLoad BinOpMult Num NameLoad BinOpMult BinOpMult Call NameLoad BinOpMult Num NameLoad Call NameLoad BinOpMult Num NameLoad Call NameLoad BinOpMult Num NameLoad decorator_list FunctionDef arguments args NameParam defaults body Expr Str Assign TupleStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore NameStore AttributeLoad NameLoad attr Return TupleLoad Call AttributeLoad NameLoad attr UnaryOpUSub NameLoad NameLoad Call AttributeLoad NameLoad attr NameLoad Call AttributeLoad NameLoad attr UnaryOpUSub NameLoad NameLoad decorator_list FunctionDef arguments args defaults body Assign NameStore BinOpDiv NameLoad Num Assign NameStore TupleLoad NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad Expr Yield TupleLoad NameLoad Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore BinOpSub NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call AttributeLoad NameLoad attr NameLoad Expr Yield TupleLoad NameLoad Call AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr Call NameLoad NameLoad Expr Yield TupleLoad NameLoad Call AttributeLoad NameLoad attr NameLoad NameLoad decorator_list FunctionDef arguments args defaults body For TupleStore NameStore NameStore NameStore NameLoad body Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad Expr Yield TupleLoad AttributeLoad NameLoad attr NameLoad NameLoad Assign NameStore Call NameLoad NameLoad NameLoad NameLoad Expr Yield TupleLoad AttributeLoad NameLoad attr NameLoad NameLoad Assign TupleStore NameStore NameStore NameStore Call AttributeLoad NameLoad attr NameLoad Assign NameStore Call AttributeLoad NameLoad attr NameLoad NameLoad NameLoad Expr Yield TupleLoad NameLoad NameLoad NameLoad decorator_list
N/A N/A  Tests for Euler angles  N/A math N/A numpy np numpy pi N/A eulerangles nea N/A quaternions nq nose.tools assert_false nose.tools assert_true numpy.testing assert_array_equal assert_array_almost_equal N/A FLOAT_EPS N/A N/A N/A np finfo N/A np float eps N/A eg_rots N/A N/A params N/A N/A np arange N/A N/A pi 2 N/A pi 2.5 N/A pi 2 N/A x params N/A N/A y params N/A N/A z params N/A N/A N/A N/A eg_rots append N/A x y z x_only N/A N/A x N/A N/A N/A cosx N/A N/A np cos x N/A sinx N/A N/A np sin x N/A N/A N/A np array N/A N/A 1 0 0 N/A 0 cosx N/A sinx N/A 0 sinx cosx N/A y_only N/A N/A y N/A N/A N/A cosy N/A N/A np cos y N/A siny N/A N/A np sin y N/A N/A N/A np array N/A N/A cosy 0 siny N/A 0 1 0 N/A N/A siny 0 cosy N/A z_only N/A N/A z N/A N/A N/A cosz N/A N/A np cos z N/A sinz N/A N/A np sin z N/A N/A N/A np array N/A N/A cosz N/A sinz 0 N/A sinz cosz 0 N/A 0 0 1 N/A sympy_euler N/A N/A z y x N/A N/A N/A cos N/A math cos N/A sin N/A math sin N/A N/A N/A N/A N/A cos y N/A cos z N/A N/A N/A cos y N/A sin z N/A sin y N/A N/A N/A N/A cos x N/A sin z N/A N/A N/A cos z N/A sin x N/A sin y N/A N/A N/A cos x N/A cos z N/A N/A N/A sin x N/A sin y N/A sin z N/A N/A N/A cos y N/A sin x N/A N/A N/A N/A sin x N/A sin z N/A N/A N/A cos x N/A cos z N/A sin y N/A N/A N/A cos z N/A sin x N/A N/A N/A cos x N/A sin y N/A sin z N/A N/A cos x N/A cos y N/A is_valid_rotation N/A N/A M N/A N/A N/A N/A N/A N/A np allclose N/A N/A N/A np linalg det M 1 N/A N/A False N/A N/A N/A np allclose N/A N/A np eye 3 N/A N/A np dot M N/A M T N/A test_basic_euler N/A N/A N/A N/A N/A zr 0.05 N/A yr -0.4 N/A xr 0.2 N/A M N/A N/A nea euler2mat zr yr xr N/A M1 N/A N/A nea euler2mat zr N/A M2 N/A N/A nea euler2mat 0 yr N/A M3 N/A N/A nea euler2mat 0 0 xr N/A N/A N/A assert_true N/A is_valid_rotation M N/A N/A N/A assert_true N/A is_valid_rotation M1 N/A N/A N/A assert_true N/A is_valid_rotation M2 N/A N/A N/A assert_true N/A is_valid_rotation M3 N/A N/A N/A assert_true N/A N/A np allclose M N/A N/A np dot M3 N/A N/A np dot M2 M1 N/A N/A N/A assert_true N/A N/A np all N/A N/A N/A nea euler2mat zr N/A N/A nea euler2mat z zr N/A N/A N/A assert_true N/A N/A np all N/A N/A N/A nea euler2mat 0 yr N/A N/A nea euler2mat y yr N/A N/A N/A assert_true N/A N/A np all N/A N/A N/A nea euler2mat 0 0 xr N/A N/A nea euler2mat x xr N/A N/A N/A assert_true N/A N/A np allclose N/A N/A nea euler2mat x N/A xr N/A N/A N/A np linalg inv N/A N/A nea euler2mat x xr N/A test_euler_mat N/A N/A N/A N/A N/A M N/A N/A nea euler2mat N/A N/A N/A assert_array_equal M N/A N/A np eye 3 N/A N/A x y z eg_rots N/A N/A M1 N/A N/A nea euler2mat z y x N/A M2 N/A sympy_euler z y x N/A N/A N/A assert_array_almost_equal M1 M2 N/A M3 N/A N/A np dot N/A x_only x N/A N/A np dot N/A y_only y N/A z_only z N/A N/A N/A assert_array_almost_equal M1 M3 N/A N/A zp yp xp N/A N/A nea mat2euler M1 N/A M4 N/A N/A nea euler2mat zp yp xp N/A N/A N/A assert_array_almost_equal M1 M4 N/A sympy_euler2quat N/A N/A z y x N/A 0 0 0 N/A N/A cos N/A math cos N/A sin N/A math sin N/A N/A N/A N/A N/A N/A cos N/A 0.5 x N/A cos N/A 0.5 y N/A cos N/A 0.5 z N/A N/A N/A sin N/A 0.5 x N/A sin N/A 0.5 y N/A sin N/A 0.5 z N/A N/A N/A N/A cos N/A 0.5 x N/A sin N/A 0.5 y N/A sin N/A 0.5 z N/A N/A N/A cos N/A 0.5 y N/A cos N/A 0.5 z N/A sin N/A 0.5 x N/A N/A N/A N/A cos N/A 0.5 x N/A cos N/A 0.5 z N/A sin N/A 0.5 y N/A N/A N/A cos N/A 0.5 y N/A sin N/A 0.5 x N/A sin N/A 0.5 z N/A N/A N/A N/A cos N/A 0.5 x N/A cos N/A 0.5 y N/A sin N/A 0.5 z N/A N/A N/A cos N/A 0.5 z N/A sin N/A 0.5 x N/A sin N/A 0.5 y N/A crude_mat2euler N/A N/A M N/A N/A N/A  The simplest possible - ignoring atan2 instability  N/A N/A r11 r12 r13 r21 r22 r23 r31 r32 r33 N/A M flat N/A N/A N/A N/A math atan2 N/A r12 r11 N/A N/A math asin r13 N/A N/A math atan2 N/A r23 r33 N/A test_euler_instability N/A N/A N/A N/A N/A po2 N/A pi 2 N/A zyx N/A po2 po2 po2 N/A M N/A N/A nea euler2mat zyx N/A M_back N/A N/A nea euler2mat N/A N/A nea mat2euler M N/A N/A N/A assert_true N/A N/A np allclose M M_back N/A M_e N/A M FLOAT_EPS N/A M_e_back N/A N/A nea euler2mat N/A N/A nea mat2euler M_e N/A N/A N/A assert_true N/A N/A np allclose M_e M_e_back N/A M_e_back N/A N/A nea euler2mat N/A crude_mat2euler M_e N/A N/A N/A assert_false N/A N/A np allclose M_e M_e_back N/A test_quats N/A N/A N/A N/A N/A N/A x y z eg_rots N/A N/A M1 N/A N/A nea euler2mat z y x N/A quatM N/A N/A nq mat2quat M1 N/A quat N/A N/A nea euler2quat z y x N/A N/A N/A N/A nq nearly_equivalent quatM quat N/A quatS N/A sympy_euler2quat z y x N/A N/A N/A N/A nq nearly_equivalent quat quatS N/A N/A zp yp xp N/A N/A nea quat2euler quat N/A M2 N/A N/A nea euler2mat zp yp xp N/A N/A N/A assert_array_almost_equal M1 M2 N/A