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petercorkepetercorke
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add unit tests for angvec to SO3/SE3
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‎tests/base/test_transforms3d.py‎

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@@ -228,6 +228,44 @@ def test_eul2tr(self):
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nt.assert_array_almost_equal(eul2tr(0.1 * r2d, 0.2 * r2d, 0.3 * r2d, unit='deg'), T)
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nt.assert_array_almost_equal(eul2tr([0.1 * r2d, 0.2 * r2d, 0.3 * r2d], unit='deg'), T)
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def test_angvec2r(self):
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r2d = 180 / pi
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nt.assert_array_almost_equal(angvec2r(0, [1, 0, 0]), rotx(0))
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nt.assert_array_almost_equal(angvec2r(pi/4, [1, 0, 0]), rotx(pi/4))
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nt.assert_array_almost_equal(angvec2r(-pi/4, [1, 0, 0]), rotx(-pi/4))
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nt.assert_array_almost_equal(angvec2r(0, [0, 1, 0]), roty(0))
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nt.assert_array_almost_equal(angvec2r(pi/4, [0, 1, 0]), roty(pi/4))
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nt.assert_array_almost_equal(angvec2r(-pi/4, [0, 1, 0]), roty(-pi/4))
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nt.assert_array_almost_equal(angvec2r(0, [0, 0, 1]), rotz(0))
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nt.assert_array_almost_equal(angvec2r(pi/4, [0, 0, 1]), rotz(pi/4))
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nt.assert_array_almost_equal(angvec2r(-pi/4, [0, 0, 1]), rotz(-pi/4))
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def test_angvec2tr(self):
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r2d = 180 / pi
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nt.assert_array_almost_equal(angvec2tr(0, [1, 0, 0]), trotx(0))
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nt.assert_array_almost_equal(angvec2tr(pi/4, [1, 0, 0]), trotx(pi/4))
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nt.assert_array_almost_equal(angvec2tr(-pi/4, [1, 0, 0]), trotx(-pi/4))
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nt.assert_array_almost_equal(angvec2tr(0, [0, 1, 0]), troty(0))
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nt.assert_array_almost_equal(angvec2tr(pi/4, [0, 1, 0]), troty(pi/4))
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nt.assert_array_almost_equal(angvec2tr(-pi/4, [0, 1, 0]), troty(-pi/4))
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nt.assert_array_almost_equal(angvec2tr(0, [0, 0, 1]), trotz(0))
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nt.assert_array_almost_equal(angvec2tr(pi/4, [0, 0, 1]), trotz(pi/4))
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nt.assert_array_almost_equal(angvec2tr(-pi/4, [0, 0, 1]), trotz(-pi/4))
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r2d = 180 / pi
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nt.assert_array_almost_equal(angvec2r(0, [1, 0, 0]), rotx(0))
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nt.assert_array_almost_equal(angvec2r(pi/4, [1, 0, 0]), rotx(pi/4))
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nt.assert_array_almost_equal(angvec2r(-pi/4, [1, 0, 0]), rotx(-pi/4))
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def test_exp2r(self):
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r2d = 180 / pi

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