From beb58b76f2740364b502e4e13fbc741d0fb524d4 Mon Sep 17 00:00:00 2001 From: Martin Diehl Date: Wed, 6 Dec 2023 22:07:57 +0100 Subject: [PATCH] correctly handling ambiguity if Phi approx pi --- python/tests/test_Rotation.py | 7 +++++-- 1 file changed, 5 insertions(+), 2 deletions(-) diff --git a/python/tests/test_Rotation.py b/python/tests/test_Rotation.py index 5a2d91a6e..cbcd06c3d 100644 --- a/python/tests/test_Rotation.py +++ b/python/tests/test_Rotation.py @@ -537,9 +537,12 @@ class TestRotation: u = np.array([np.pi*2,np.pi,np.pi*2]) ok = np.allclose(m,o,atol=atol) ok |= np.allclose(np.where(np.isclose(m,u),m-u,m),np.where(np.isclose(o,u),o-u,o),atol=atol) - if np.isclose(m[1],0.0,atol=atol) or np.isclose(m[1],np.pi,atol=atol): + if np.isclose(m[1],0.0,atol=atol): sum_phi = np.unwrap([m[0]+m[2],o[0]+o[2]]) - ok |= np.isclose(sum_phi[0],sum_phi[1],atol=atol) + ok |= np.isclose(sum_phi[0],sum_phi[1],atol=atol) and np.isclose(o[1],0.0,atol=atol) + if np.isclose(m[1],np.pi,atol=atol): + delta_phi = np.unwrap([m[0]-m[2],o[0]-o[2]]) + ok |= np.isclose(delta_phi[0],delta_phi[1],atol=atol) and np.isclose(o[1],np.pi,atol=atol) assert ok and (np.zeros(3)-1.e-9 <= o).all() \ and (o <= np.array([np.pi*2.,np.pi,np.pi*2.])+1.e-9).all(), f'{m},{o},{rot.as_quaternion()}'