From 20a217a8f41452d9cc2cc542c5b3f5e1ae0ed93c Mon Sep 17 00:00:00 2001
From: Wolfgang Merkt <w.merkt@gmail.com>
Date: Mon, 7 Feb 2022 17:10:13 +0000
Subject: [PATCH] test_geometry: More output
---
unittest/python/test_geometry.py | 10 +++++++++-
1 file changed, 9 insertions(+), 1 deletion(-)
diff --git a/unittest/python/test_geometry.py b/unittest/python/test_geometry.py
index 86332f2..2caa9fc 100644
--- a/unittest/python/test_geometry.py
+++ b/unittest/python/test_geometry.py
@@ -13,15 +13,21 @@ def isapprox(a,b,epsilon=1e-6):
return abs(a-b)<epsilon
# --- Quaternion ---------------------------------------------------------------
+# Coefficient initialisation
+verbose and print("[Quaternion] Coefficient initialisation")
q = Quaternion(1,2,3,4)
q.normalize()
assert(isapprox(np.linalg.norm(q.coeffs()),q.norm()))
assert(isapprox(np.linalg.norm(q.coeffs()),1))
+# Coefficient-vector initialisation
+verbose and print("[Quaternion] Coefficient-vector initialisation")
v = np.array([0.5,-0.5,0.5,0.5])
qv = Quaternion(v)
assert(isapprox(qv.coeffs(), v))
+# Angle axis initialisation
+verbose and print("[Quaternion] AngleAxis initialisation")
r = AngleAxis(q)
q2 = Quaternion(r)
assert(q==q)
@@ -34,6 +40,8 @@ Rr = r.matrix()
assert(isapprox(Rq.dot(Rq.T),np.eye(3)))
assert(isapprox(Rr,Rq))
+# Rotation matrix initialisation
+verbose and print("[Quaternion] Rotation Matrix initialisation")
qR = Quaternion(Rr)
assert(q.isApprox(qR))
assert(isapprox(q.coeffs(),qR.coeffs()))
@@ -43,7 +51,7 @@ try:
qR[5]
print("Error, this message should not appear.")
except RuntimeError as e:
- if verbose: print("As expected, catched exception: ",e)
+ if verbose: print("As expected, caught exception: ", e)
# --- Angle Vector ------------------------------------------------
r = AngleAxis(.1,np.array([1,0,0],np.double))
--
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