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correctly handling ambiguity if Phi approx pi

This commit is contained in:
Martin Diehl 2023-12-06 22:07:57 +01:00
parent 224ee5afdc
commit beb58b76f2
1 changed files with 5 additions and 2 deletions
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7
python/tests/test_Rotation.py
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@ -537,9 +537,12 @@ class TestRotation:
u = np.array([np.pi*2,np.pi,np.pi*2]) u = np.array([np.pi*2,np.pi,np.pi*2])
ok = np.allclose(m,o,atol=atol) 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) 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]]) 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() \ 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()}' and (o <= np.array([np.pi*2.,np.pi,np.pi*2.])+1.e-9).all(), f'{m},{o},{rot.as_quaternion()}'