"""
Tests for quaternion class
"""
# The MIT License (MIT)
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# Copyright (c) 2016 GTRC.
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from __future__ import division
from unittest import TestCase
from quaternions import Quaternion
from random import Random
[docs]class TestQuaternion(TestCase):
[docs] def setUp(self):
random = Random(100)
N = 50*4
int_vals = [random.randint(-1000, 1000) for _ in range(N//2)]
float_vals = [random.uniform(-1000, 1000) for _ in range(N // 2)]
val_list = int_vals + float_vals
random.shuffle(val_list)
self.p = [Quaternion(val_list[4*n], val_list[4*n+1], val_list[4*n+2],
val_list[4*n+3], ) for n in range(N//8)]
self.p = [p.unit() for p in self.p]
self.q = [Quaternion(val_list[4*n], val_list[4*n+1], val_list[4*n+2],
val_list[4*n+3])
for n in range(N//8, N//4)]
self.q = [q.unit() for q in self.q]
self.all = self.p + self.q
[docs] def test_equality(self):
for quat in self.all:
self.assertTrue(quat == quat)
[docs] def test_from_Quaternion(self):
for quat in self.all:
self.assertEqual(Quaternion.from_quaternion(quat), quat)
[docs] def test_conjugate_a(self):
""":math: q=(q*)*"""
for q in self.q:
self.assertEqual(q, q.conjugate().conjugate())
[docs] def test_conjugate_b(self):
""":math: (pq)* = q*p*"""
for q in self.q:
for p in self.p:
self.assertTrue((p*q).conjugate().almost_equal(
q.conjugate()*p.conjugate()),
"Failed conjugation test b:\n\tq: " + str(q) +
"\n\tp: " + str(p) +
"\n\nLeft:\t" + str((p*q).conjugate()) +
"\nRight:\t" + str((q.conjugate())*(p.conjugate())))
[docs] def test_norm_a(self):
"""norm(conjugate(q))=norm(q)"""
for q in self.all:
self.assertAlmostEqual(q.conjugate().norm(), q.norm())
[docs] def test_norm_b(self):
"""norm(pq) = norm(p)norm(q)"""
for q in self.q:
for p in self.p:
self.assertAlmostEqual((p*q).norm(), p.norm()*q.norm())
[docs] def test_inverse_a(self):
"""inverse(q) q = Quaternion(1,0,0,0)"""
for q in self.all:
self.assertTrue(
(q.inverse()*q).almost_equal(Quaternion(1, 0, 0, 0)))
[docs] def test_inverse_b(self):
"""q inverse(q) = Quaternion(1,0,0,0)"""
for q in self.all:
self.assertTrue(
(q*q.inverse()).almost_equal(Quaternion(1, 0, 0, 0)))
[docs] def test_inverse_c(self):
"""q inverse(q) = inverse(q) q"""
for q in self.all:
self.assertTrue((q * q.inverse()).almost_equal(q.inverse()*q))
[docs] def test_inverse_d(self):
"""inverse(inverse(q)) = q"""
for q in self.all:
self.assertTrue(q.inverse().inverse().almost_equal(q))
[docs] def test_inverse_e(self):
"""inverse(pq) = inverse(q)inverse(p)"""
for q in self.q:
for p in self.p:
self.assertTrue(
(p*q).inverse().almost_equal(q.inverse()*p.inverse()))
