#!/usr/bin/env python3
import numpy as np
import unittest
from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
rot2quat, quat2rot, \
ned_euler_from_ecef
eulers = np.array([[ 1.46520501, 2.78688383, 2.92780854],
[ 4.86909526, 3.60618161, 4.30648981],
[ 3.72175965, 2.68763705, 5.43895988],
[ 5.92306687, 5.69573614, 0.81100357],
[ 0.67838374, 5.02402037, 2.47106426]])
quats = np.array([[ 0.66855182, -0.71500939, 0.19539353, 0.06017818],
[ 0.43163717, 0.70013301, 0.28209145, 0.49389021],
[ 0.44121991, -0.08252646, 0.34257534, 0.82532207],
[ 0.88578382, -0.04515356, -0.32936046, 0.32383617],
[ 0.06578165, 0.61282835, 0.07126891, 0.78424163]])
ecef_positions = np.array([[-2711076.55270557, -4259167.14692758, 3884579.87669935],
[ 2068042.69652729, -5273435.40316622, 2927004.89190746],
[-2160412.60461669, -4932588.89873832, 3406542.29652851],
[-1458247.92550567, 5983060.87496612, 1654984.6099885 ],
[ 4167239.10867871, 4064301.90363223, 2602234.6065749 ]])
ned_eulers = np.array([[ 0.46806039, -0.4881889 , 1.65697808],
[-2.14525969, -0.36533066, 0.73813479],
[-1.39523364, -0.58540761, -1.77376356],
[-1.84220435, 0.61828016, -1.03310421],
[ 2.50450101, 0.36304151, 0.33136365]])
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class TestOrientation(unittest.TestCase):
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def test_quat_euler(self):
for i, eul in enumerate(eulers):
np.testing.assert_allclose(quats[i], euler2quat(eul), rtol=1e-7)
np.testing.assert_allclose(quats[i], euler2quat(quat2euler(quats[i])), rtol=1e-6)
for i, eul in enumerate(eulers):
np.testing.assert_allclose(quats[i], euler2quat(list(eul)), rtol=1e-7)
np.testing.assert_allclose(quats[i], euler2quat(quat2euler(list(quats[i]))), rtol=1e-6)
np.testing.assert_allclose(quats, euler2quat(eulers), rtol=1e-7)
np.testing.assert_allclose(quats, euler2quat(quat2euler(quats)), rtol=1e-6)
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def test_rot_euler(self):
for eul in eulers:
np.testing.assert_allclose(euler2quat(eul), euler2quat(rot2euler(euler2rot(eul))), rtol=1e-7)
for eul in eulers:
np.testing.assert_allclose(euler2quat(eul), euler2quat(rot2euler(euler2rot(list(eul)))), rtol=1e-7)
np.testing.assert_allclose(euler2quat(eulers), euler2quat(rot2euler(euler2rot(eulers))), rtol=1e-7)
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def test_rot_quat(self):
for quat in quats:
np.testing.assert_allclose(quat, rot2quat(quat2rot(quat)), rtol=1e-7)
for quat in quats:
np.testing.assert_allclose(quat, rot2quat(quat2rot(list(quat))), rtol=1e-7)
np.testing.assert_allclose(quats, rot2quat(quat2rot(quats)), rtol=1e-7)
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def test_euler_ned(self):
for i in range(len(eulers)):
np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7)
#np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7)
# np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
if __name__ == "__main__":
unittest.main()