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Fix qangle function and add associated test #82

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Merged
myeatman-bdai merged 1 commit into from
Jul 20, 2023
Merged

Fix qangle function and add associated test #82

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2 changes: 1 addition & 1 deletion spatialmath/base/quaternions.py
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Original file line number Diff line number Diff line change
Expand Up @@ -985,7 +985,7 @@ def qangle(q1: ArrayLike4, q2: ArrayLike4) -> float:

q1 = smb.getvector(q1, 4)
q2 = smb.getvector(q2, 4)
return 2.0 * math.atan2(smb.norm(q1 - q2), smb.norm(q1 + q2))
return 4.0 * math.atan2(smb.norm(q1 - q2), smb.norm(q1 + q2))


def qprint(
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10 changes: 10 additions & 0 deletions tests/base/test_quaternions.py
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Expand Up @@ -218,6 +218,16 @@ def test_r2q(self):
with self.assertRaises(ValueError):
nt.assert_array_almost_equal(q1a, r2q(r1.R, order="aaa"))

def test_qangle(self):
# Test function that calculates angle between quaternions
q1 = [1., 0, 0, 0]
q2 = [1 / np.sqrt(2), 0, 1 / np.sqrt(2), 0] # 90deg rotation about y-axis
nt.assert_almost_equal(qangle(q1, q2), np.pi / 2)

q1 = [1., 0, 0, 0]
q2 = [1 / np.sqrt(2), 1 / np.sqrt(2), 0, 0] # 90deg rotation about x-axis
nt.assert_almost_equal(qangle(q1, q2), np.pi / 2)


if __name__ == "__main__":
unittest.main()