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add unrotate() test

release/4.3a0
Akshay Krishnan 2022-12-24 10:15:08 -05:00
parent fd55e09bcc
commit 3a2816e4fc
1 changed files with 13 additions and 1 deletions
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14
python/gtsam/tests/test_Rot3.py
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@ -2037,7 +2037,6 @@ class TestRot3(GtsamTestCase):
R = Rot3(np.array([[1, 0, 0], [0, -1, 0], [0, 0, 1]]))
p = Point3(1., 1., 1.)
u = Unit3(np.array([1, 1, 1]))
print(type(p))
actual_p = R.rotate(p)
actual_u = R.rotate(u)
expected_p = Point3(np.array([1, -1, 1]))
@ -2045,6 +2044,19 @@ class TestRot3(GtsamTestCase):
np.testing.assert_array_equal(actual_p, expected_p)
np.testing.assert_array_equal(actual_u.point3(), expected_u.point3())
def test_unrotate(self) -> None:
"""Test that unrotate() after rotate() yields original Point3/Unit3."""
wRc = Rot3(np.array(R1_R2_pairs[0][0]))
c_p = Point3(1., 1., 1.)
c_u = Unit3(np.array([1, 1, 1]))
w_p = wRc.rotate(c_p)
w_u = wRc.rotate(c_u)
actual_p = wRc.unrotate(w_p)
actual_u = wRc.unrotate(w_u)
np.testing.assert_almost_equal(actual_p, c_p, decimal=6)
np.testing.assert_almost_equal(actual_u.point3(), c_u.point3(), decimal=6)
if __name__ == "__main__":
unittest.main()