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| # Copyright (c) Meta Platforms, Inc. and affiliates. | |
| # This source code is licensed under the MIT license found in the | |
| # LICENSE file in the root directory of this source tree. | |
| from animated_drawings.model.quaternions import Quaternions | |
| from animated_drawings.model.vectors import Vectors | |
| import numpy as np | |
| def test_not_four_elements(): | |
| try: | |
| Quaternions(np.array([0, 1, 2])) # should fail | |
| except AssertionError: | |
| return | |
| assert False | |
| def test_initialize_with_ndarray(): | |
| q = Quaternions(np.array([1, 0, 0, 0])) # should succeed | |
| assert np.array_equal(q.qs, np.array([[1, 0, 0, 0]])) | |
| def test_from_angle_axis(): | |
| angle = np.array([1.0]) | |
| axis = Vectors(np.array([1.0, 1.0, 1.0])) | |
| q6 = Quaternions.from_angle_axis(angle, axis) | |
| assert np.allclose(q6.qs, np.array( | |
| [[0.87758256, 0.27679646, 0.27679646, 0.27679646]])) | |
| def test_multiple_from_angle_axis(): | |
| angles = np.array([[1.0], [1.0]]) | |
| axis = Vectors( | |
| np.array([[1.0, 1.0, 1.0], [1.0, 1.0, 1.0]], dtype=np.float32)) | |
| q1 = Quaternions.from_angle_axis(angles, axis) | |
| assert np.allclose(q1.qs, np.array([ | |
| [0.87758256, 0.27679646, 0.27679646, 0.27679646], | |
| [0.87758256, 0.27679646, 0.27679646, 0.27679646]])) | |
| def test_to_rotation_matrix(): | |
| angles = np.array([[np.pi / 2]]) | |
| axis = Vectors(np.array([1.0, 0.0, 0.0], dtype=np.float32)) | |
| q1 = Quaternions.from_angle_axis(angles, axis) | |
| assert np.allclose(q1.to_rotation_matrix(), np.array([ | |
| [1.000000e+00, 0.000000e+00, 0.000000e+00, 0.000000e+00], | |
| [0.000000e+00, 0.000000e+00, -1.000000e+00, 0.000000e+00], | |
| [0.000000e+00, 1.000000e+00, 0.000000e+00, 0.000000e+00], | |
| [0.000000e+00, 0.000000e+00, 0.000000e+00, 1.000000e+00]])) | |
| def test_from_rotation_matrix(): | |
| angles = np.array([[np.pi / 2]]) | |
| axis = np.array([1.0, 1.0, 0.0], dtype=np.float32) | |
| q1 = Quaternions.from_angle_axis(angles, Vectors(axis)) | |
| q2 = Quaternions.from_rotation_matrix(q1.to_rotation_matrix()) | |
| assert np.allclose(q1.qs, q2.qs) | |
| def test_to_euler_angles(): | |
| # TODO add test coverage for from_euler_angles | |
| pass | |
| def test_multiply(): | |
| # TODO add test coverage for quaternion multiplication | |
| pass | |