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shortened code

This commit is contained in:
Philip Eisenlohr 2023-12-09 12:03:05 -05:00
parent beb58b76f2
commit efc76f1f19
1 changed files with 7 additions and 9 deletions
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14
python/tests/test_Rotation.py
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@ -534,17 +534,15 @@ class TestRotation:
for rot in set_of_rotations:
m = rot.as_Euler_angles()
o = backward(forward(m))
u = np.array([np.pi*2,np.pi,np.pi*2])
u = np.pi*np.array([2.,1.,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):
sum_phi = np.unwrap([m[0]+m[2],o[0]+o[2]])
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)
if np.allclose([m[1],o[1]],0.0,atol=atol):
ok |= np.isclose(*np.unwrap([m[0]+m[2],o[0]+o[2]]),atol=atol)
if np.allclose([m[1],o[1]],np.pi,atol=atol):
ok |= np.isclose(*np.unwrap([m[0]-m[2],o[0]-o[2]]),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()}'
and ( o <= u+1.e-9).all(), f'{m},{o},{rot.as_quaternion()}'
@pytest.mark.parametrize('forward,backward',[(Rotation._ax2qu,Rotation._qu2ax),
(Rotation._ax2om,Rotation._om2ax),