2 GTSAM Copyright 2010-2019, Georgia Tech Research Corporation,
3 Atlanta, Georgia 30332-0415
5 See LICENSE for the license information
16 from gtsam
import Point3, Rot3, Unit3
23 [0.994283, -0.10356, 0.0260251],
24 [0.102811, 0.994289, 0.0286205],
25 [-0.0288404, -0.0257812, 0.999251],
28 [-0.994235, 0.0918291, -0.0553602],
29 [-0.0987317, -0.582632, 0.806718],
30 [0.0418251, 0.807532, 0.588339],
35 [0.999823, -0.000724729, 0.0187896],
36 [0.00220672, 0.996874, -0.0789728],
37 [-0.0186736, 0.0790003, 0.9967],
40 [-0.99946, -0.0155217, -0.0289749],
41 [-0.0306159, 0.760422, 0.648707],
42 [0.0119641, 0.649244, -0.760487],
47 [0.999976, 0.00455542, -0.00529608],
48 [-0.00579633, 0.964214, -0.265062],
49 [0.00389908, 0.265086, 0.964217],
52 [-0.999912, -0.0123323, -0.00489179],
53 [-0.00739095, 0.21159, 0.977331],
54 [-0.0110179, 0.977281, -0.211663],
59 [0.998801, 0.0449026, 0.019479],
60 [-0.0448727, 0.998991, -0.00197348],
61 [-0.0195479, 0.00109704, 0.999808],
64 [-0.999144, -0.0406154, -0.00800012],
65 [0.0406017, -0.999174, 0.00185875],
66 [-0.00806909, 0.00153352, 0.999966],
71 [0.587202, 0.00034062, -0.80944],
72 [0.394859, 0.872825, 0.286815],
73 [0.706597, -0.488034, 0.51239],
76 [-0.999565, -0.028095, -0.00905389],
77 [0.0192863, -0.853838, 0.520182],
78 [-0.0223455, 0.519782, 0.854007],
83 [0.998798, 0.0370584, 0.0320815],
84 [-0.0355966, 0.998353, -0.0449943],
85 [-0.033696, 0.0437982, 0.998472],
88 [-0.999942, -0.010745, -0.00132538],
89 [-0.000998705, -0.0304045, 0.999538],
90 [-0.0107807, 0.999481, 0.0303914],
95 [0.998755, 0.00708291, -0.0493744],
96 [-0.00742097, 0.99995, -0.00666709],
97 [0.0493247, 0.0070252, 0.998758],
100 [-0.998434, 0.0104672, 0.0549825],
101 [0.0115323, 0.999751, 0.0190859],
102 [-0.0547691, 0.01969, -0.998307],
107 [0.990471, 0.0997485, -0.0949595],
108 [-0.117924, 0.970427, -0.210631],
109 [0.0711411, 0.219822, 0.972943],
112 [-0.99192, -0.125627, 0.0177888],
113 [0.126478, -0.967866, 0.217348],
114 [-0.0100874, 0.217839, 0.975933],
119 [-0.780894, -0.578319, -0.236116],
120 [0.34478, -0.0838381, -0.934932],
121 [0.520894, -0.811491, 0.264862],
124 [-0.99345, 0.00261746, -0.114244],
125 [-0.112503, 0.152922, 0.981815],
126 [0.0200403, 0.988236, -0.151626],
131 [0.968425, 0.0466097, 0.244911],
132 [-0.218867, 0.629346, 0.745668],
133 [-0.119378, -0.775726, 0.619676],
136 [-0.971208, 0.00666431, -0.238143],
137 [0.0937886, 0.929584, -0.35648],
138 [0.218998, -0.368551, -0.903444],
143 [0.998512, 0.0449168, -0.0309146],
144 [-0.0344032, 0.958823, 0.281914],
145 [0.0423043, -0.280431, 0.958941],
148 [-0.999713, 0.00732431, 0.0228168],
149 [-0.00759688, 0.806166, -0.59164],
150 [-0.0227275, -0.591644, -0.805879],
155 [0.981814, 0.00930728, 0.189617],
156 [-0.0084101, 0.999949, -0.00553563],
157 [-0.189659, 0.00384026, 0.981843],
160 [-0.981359, 0.00722349, -0.192051],
161 [0.00148564, 0.999549, 0.0300036],
162 [0.192182, 0.0291591, -0.980927],
167 [0.972544, -0.215591, 0.0876242],
168 [0.220661, 0.973915, -0.0529018],
169 [-0.0739333, 0.0707846, 0.994748],
172 [-0.971294, 0.215675, -0.100371],
173 [-0.23035, -0.747337, 0.62324],
174 [0.0594069, 0.628469, 0.775564],
179 [0.989488, 0.0152447, 0.143808],
180 [-0.0160974, 0.999859, 0.00476753],
181 [-0.143715, -0.00703235, 0.989594],
184 [-0.988492, 0.0124362, -0.150766],
185 [0.00992423, 0.999799, 0.0174037],
186 [0.150952, 0.0157072, -0.988417],
191 [0.99026, 0.109934, -0.0854388],
192 [-0.0973012, 0.985345, 0.140096],
193 [0.099588, -0.130418, 0.986445],
196 [-0.994239, 0.0206112, 0.1052],
197 [0.0227944, 0.999548, 0.0195944],
198 [-0.104748, 0.0218794, -0.994259],
203 [0.988981, 0.132742, -0.0655406],
204 [-0.113134, 0.963226, 0.243712],
205 [0.0954813, -0.233612, 0.96763],
208 [-0.989473, -0.144453, 0.00888153],
209 [0.112318, -0.727754, 0.67658],
210 [-0.0912697, 0.670455, 0.736317],
215 [0.13315, -0.722685, 0.678231],
216 [0.255831, 0.686195, 0.680946],
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220 [-0.233019, 0.0127274, -0.97239],
221 [-0.0143824, 0.99976, 0.0165321],
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227 [0.906305, -0.0179617, -0.422243],
228 [0.0246095, 0.999644, 0.0102984],
229 [0.421908, -0.0197247, 0.906424],
232 [-0.90393, 0.0136293, 0.427466],
233 [0.0169755, 0.999848, 0.0040176],
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239 [0.999808, 0.0177784, -0.00826505],
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244 [-0.999901, -0.0141114, 0.00072392],
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252 [0.154776, 0.980269, 0.12295],
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256 [-0.985689, 0.137931, -0.09692],
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258 [0.0443951, 0.767022, 0.640085],
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264 [0.05108, 0.990402, -0.128428],
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268 [-0.956189, 0.00996594, -0.292585],
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275 [0.783763, -0.0181248, -0.620796],
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289 [0.453495, 0.00309433, 0.891253],
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293 [0.0337152, 0.999429, 0.0022403],
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300 [0.00277494, 0.988238, 0.152901],
301 [-0.0602825, -0.152458, 0.98647],
304 [-0.997444, 0.00871865, -0.0709414],
305 [0.0197108, 0.987598, -0.155762],
306 [0.0687035, -0.156762, -0.985246],
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312 [-0.166966, 0.984975, 0.0441225],
313 [-0.0384096, -0.0512146, 0.997949],
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317 [-0.00344291, 0.99673, 0.0807324],
318 [0.0323362, 0.0808019, -0.996206],
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325 [-0.0305178, 0.0345463, 0.998937],
328 [-0.999441, 0.00412484, -0.0332105],
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330 [0.0332552, 0.0112999, -0.999384],
335 [0.10101, -0.943239, -0.316381],
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528 [0.0484292, 0.975079, 0.216506],
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600 [0.00349956, 0.999978, 0.00558359],
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604 [-0.962691, -0.00113074, -0.270609],
605 [-5.93716e-05, 0.999992, -0.00396767],
606 [0.270612, -0.00380337, -0.962683],
611 [0.948799, 0.287027, -0.131894],
612 [-0.300257, 0.949181, -0.0943405],
613 [0.0981135, 0.129112, 0.986764],
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617 [-0.0506857, 0.994269, -0.0941326],
618 [-0.101017, -0.0988741, -0.98996],
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624 [-0.0418086, 0.973879, -0.223183],
625 [-0.0195345, 0.222539, 0.974728],
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629 [0.00742187, 0.998912, 0.046048],
630 [0.0174255, 0.0459131, -0.998794],
635 [0.99577, 0.00458459, 0.0917705],
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641 [0.0122932, 0.999777, 0.0171801],
642 [0.0890113, 0.0160191, -0.995903],
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653 [0.00310821, 0.999941, 0.010419],
654 [0.194231, 0.00961706, -0.98091],
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660 [-0.0048286, 0.99968, 0.0248495],
661 [0.0272817, -0.0247088, 0.999322],
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665 [-0.00125497, 0.999599, -0.0282774],
666 [-0.0249333, -0.0282998, -0.999289],
671 [0.998036, -0.00755259, -0.0621791],
672 [0.0417502, 0.820234, 0.570502],
673 [0.0466927, -0.571978, 0.818939],
676 [-0.999135, -0.0278203, 0.0309173],
677 [-0.00855238, 0.864892, 0.501886],
678 [-0.0407029, 0.501187, -0.864382],
683 [0.958227, 0.00271545, 0.285997],
684 [-0.00426128, 0.999979, 0.00478282],
685 [-0.285979, -0.00580174, 0.958218],
688 [-0.958726, 0.011053, -0.284121],
689 [0.0138068, 0.999875, -0.00769161],
690 [0.284001, -0.0112968, -0.958759],
695 [-0.804547, -0.48558, -0.341929],
696 [0.517913, -0.855425, -0.00382581],
697 [-0.290637, -0.180168, 0.939718],
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702 [0.0170842, 0.96039, -0.278134],
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708 [-0.00198041, 0.999454, -0.0329762],
709 [0.127199, 0.0329602, 0.991329],
712 [-0.992632, -0.0090772, 0.120844],
713 [-0.00870494, 0.999956, 0.00360636],
714 [-0.120871, 0.00252786, -0.992667],
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720 [0.026144, 0.999126, -0.0326002],
721 [-0.0265895, 0.0332948, 0.999092],
724 [-0.999314, -0.0038532, -0.0368519],
725 [-0.00441323, 0.999876, 0.0151263],
726 [0.036789, 0.0152787, -0.999207],
731 [0.999843, -0.00958823, 0.0148803],
732 [0.00982469, 0.999825, -0.0159002],
733 [-0.0147253, 0.0160439, 0.999763],
736 [-0.999973, 0.00673608, -0.00308692],
737 [-0.0067409, -0.999977, 0.00116827],
738 [-0.00307934, 0.00119013, 0.999995],
743 [0.981558, -0.00727741, 0.191028],
744 [-0.00866166, 0.996556, 0.0824708],
745 [-0.190971, -0.0826044, 0.978114],
748 [-0.980202, 0.0179519, -0.197188],
749 [0.00957606, 0.999014, 0.0433472],
750 [0.197772, 0.0406008, -0.979408],
755 [0.966044, 0.0143709, 0.257977],
756 [-0.0157938, 0.999869, 0.00344404],
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1470 [0.0863245, -0.00754306, -0.99624],
1475 [0.84563, -0.0032436, -0.533759],
1476 [0.0040093, 0.999992, 0.000275049],
1477 [0.533754, -0.00237259, 0.845636],
1480 [-0.849818, -0.00755214, 0.527023],
1481 [-0.00734806, 0.99997, 0.00248074],
1482 [-0.527026, -0.00176415, -0.849848],
1487 [0.736067, -0.212675, -0.642631],
1488 [-0.447028, 0.560168, -0.697408],
1489 [0.508303, 0.800613, 0.31725],
1492 [-0.684029, 0.0061039, 0.729431],
1493 [0.0260275, 0.999532, 0.0160434],
1494 [-0.728992, 0.0299595, -0.683868],
1499 [0.993949, 0.00461705, -0.109742],
1500 [-0.00653155, 0.999833, -0.0170925],
1501 [0.109644, 0.0177058, 0.993813],
1504 [-0.994446, 0.0218439, 0.102965],
1505 [0.0227578, 0.999711, 0.00770966],
1506 [-0.102767, 0.0100102, -0.994656],
1511 [0.996005, -0.0103388, 0.0886959],
1512 [-0.0291635, 0.901147, 0.432531],
1513 [-0.0843999, -0.43339, 0.897246],
1516 [-0.999947, 0.00833193, -0.00598923],
1517 [-0.0101526, -0.887864, 0.459993],
1518 [-0.00148526, 0.46003, 0.887902],
1523 [0.981518, 0.0114609, 0.191025],
1524 [-0.0104683, 0.999926, -0.00620422],
1525 [-0.191082, 0.00408984, 0.981565],
1528 [-0.979556, 0.000134379, -0.201176],
1529 [-0.00817302, 0.999148, 0.0404628],
1530 [0.20101, 0.0412799, -0.97872],
1535 [0.997665, -0.0372296, -0.0572574],
1536 [0.0379027, 0.999224, 0.0107148],
1537 [0.0568141, -0.01286, 0.998302],
1540 [-0.997794, 0.00389749, 0.0662921],
1541 [0.00639122, 0.999278, 0.0374446],
1542 [-0.0660983, 0.0377856, -0.997099],
1547 [0.981618, -0.0105643, -0.190564],
1548 [0.00329498, 0.999256, -0.0384229],
1549 [0.190828, 0.0370887, 0.980923],
1552 [-0.981673, -0.000810695, 0.190576],
1553 [0.00398375, 0.999685, 0.0247729],
1554 [-0.190536, 0.0250779, -0.981361],
1559 [-0.544941, -0.812151, -0.208446],
1560 [0.812337, -0.449791, -0.37121],
1561 [0.207722, -0.371617, 0.90485],
1564 [-0.121327, -0.000366672, -0.992614],
1565 [-0.955208, 0.271977, 0.116655],
1566 [0.269926, 0.962303, -0.0333484],
1571 [0.637701, -0.219537, 0.738336],
1572 [0.735715, 0.457522, -0.499397],
1573 [-0.228168, 0.861671, 0.453279],
1576 [-0.741797, 0.0196167, -0.670339],
1577 [-0.00209087, 0.9995, 0.0315629],
1578 [0.670623, 0.0248149, -0.741385],
1583 [0.99813, -0.0590625, -0.0157485],
1584 [0.0589086, 0.998213, -0.0100649],
1585 [0.0163148, 0.00911833, 0.999825],
1588 [-0.99893, 0.0258783, -0.0383385],
1589 [-0.0440455, -0.279068, 0.959261],
1590 [0.014125, 0.959924, 0.279908],
1595 [0.999558, 0.0028395, -0.0296019],
1596 [-0.00492321, 0.997496, -0.0705578],
1597 [0.0293274, 0.0706723, 0.997068],
1600 [-0.999532, -0.0305627, -0.00231546],
1601 [0.00957406, -0.38309, 0.923664],
1602 [-0.0291167, 0.923206, 0.383202],
1607 [0.99814, -0.0528437, -0.0303853],
1608 [0.0590889, 0.96123, 0.269341],
1609 [0.0149743, -0.270636, 0.962565],
1612 [-0.999464, 0.00781117, 0.0318024],
1613 [-0.000588355, 0.966696, -0.255928],
1614 [-0.0327423, -0.255809, -0.966173],
1619 [-0.936685, 0.234194, 0.260336],
1620 [-0.233325, -0.97178, 0.034698],
1621 [0.261116, -0.0282419, 0.964894],
1624 [0.999511, 0.00582072, 0.0307461],
1625 [0.0289012, 0.204922, -0.978352],
1626 [-0.0119956, 0.978762, 0.204654],
1631 [0.973616, -0.019218, -0.227384],
1632 [0.0030011, 0.99744, -0.0714512],
1633 [0.228175, 0.0688836, 0.97118],
1636 [-0.974738, 0.0190271, 0.222547],
1637 [0.0222378, 0.999682, 0.0119297],
1638 [-0.222249, 0.0165771, -0.97485],
1643 [0.997273, 0.0453471, -0.0582173],
1644 [-0.0234007, 0.942529, 0.333303],
1645 [0.0699858, -0.331032, 0.941021],
1648 [-0.996269, -0.0613496, 0.0607196],
1649 [-0.0100285, 0.780948, 0.624516],
1650 [-0.0857328, 0.621576, -0.77865],
1655 [0.999511, 0.0274482, -0.0149865],
1656 [-0.0305945, 0.957511, -0.286769],
1657 [0.00647846, 0.287087, 0.957883],
1660 [-0.999443, -0.0260559, 0.0209038],
1661 [0.0148505, 0.213942, 0.976734],
1662 [-0.0299225, 0.976499, -0.213437],
1667 [0.621123, 0.722893, 0.302708],
1668 [-0.48353, 0.657448, -0.577894],
1669 [-0.61677, 0.212574, 0.757896],
1672 [-0.996888, -0.0217614, -0.0757776],
1673 [-0.0783897, 0.376159, 0.923234],
1674 [0.00841386, 0.926299, -0.376694],
1679 [0.974426, 0.0128384, -0.224341],
1680 [-0.0123842, 0.999917, 0.00343166],
1681 [0.224367, -0.00056561, 0.974505],
1684 [-0.973234, -0.00506667, 0.229763],
1685 [-0.000498848, 0.999801, 0.0199346],
1686 [-0.229818, 0.0192865, -0.973043],
1691 [0.994721, -0.0881097, 0.0526082],
1692 [0.0972904, 0.972774, -0.210345],
1693 [-0.0326424, 0.214353, 0.976211],
1696 [-0.994309, 0.0920529, -0.0536268],
1697 [-0.105538, -0.782431, 0.613729],
1698 [0.0145358, 0.615896, 0.787694],
1703 [0.998677, -0.0372894, 0.0354002],
1704 [0.0242326, 0.948589, 0.315583],
1705 [-0.0453481, -0.314308, 0.948237],
1708 [-0.999066, -0.00910724, -0.0422707],
1709 [-0.024629, 0.923353, 0.383161],
1710 [0.0355411, 0.383844, -0.922715],
1715 [0.931525, 0.00831028, 0.363583],
1716 [0.0192806, 0.997204, -0.0721909],
1717 [-0.363167, 0.0742577, 0.92876],
1720 [-0.930052, -0.00174384, -0.367425],
1721 [-0.0268673, 0.997634, 0.0632737],
1722 [0.366445, 0.0687194, -0.927899],
1727 [-0.50483, -0.819216, 0.272087],
1728 [0.775688, -0.568816, -0.273414],
1729 [0.378753, 0.0730272, 0.922612],
1732 [-0.981596, 0.00031926, 0.190974],
1733 [0.00652401, 0.999471, 0.0318616],
1734 [-0.190863, 0.0325211, -0.981079],
1739 [0.990518, -0.00195099, -0.137368],
1740 [-0.00164696, 0.999659, -0.0260735],
1741 [0.137372, 0.0260526, 0.990177],
1744 [-0.991078, 0.00934835, 0.132961],
1745 [0.0106057, 0.999905, 0.00875176],
1746 [-0.132866, 0.0100839, -0.991083],
1751 [0.935049, -0.353081, 0.0318997],
1752 [0.257018, 0.737114, 0.624984],
1753 [-0.244184, -0.576192, 0.779985],
1756 [-0.977342, -0.00167896, -0.211667],
1757 [-0.0448634, 0.978894, 0.199386],
1758 [0.206864, 0.204364, -0.956789],
1763 [0.998464, 0.0501172, 0.0236119],
1764 [-0.0498618, 0.998692, -0.0112844],
1765 [-0.0241466, 0.0100898, 0.999658],
1768 [-0.999931, -0.0037971, -0.0112195],
1769 [-0.00640916, 0.970027, 0.242913],
1770 [0.00996085, 0.242968, -0.969984],
1775 [0.999893, -0.0108217, 0.00984537],
1776 [0.011201, 0.999164, -0.0393194],
1777 [-0.00941164, 0.0394255, 0.999178],
1780 [-0.999886, 0.00730461, -0.0133396],
1781 [-0.0118202, -0.925163, 0.379391],
1782 [-0.00956982, 0.379504, 0.925142],
1787 [0.990922, -0.086745, 0.102709],
1788 [0.0847349, 0.99612, 0.0237834],
1789 [-0.104373, -0.0148644, 0.994427],
1792 [-0.994922, -0.00197458, -0.10064],
1793 [-0.00242513, 0.999988, 0.00435525],
1794 [0.10063, 0.00457739, -0.994914],
1799 [0.999856, 0.00210734, -0.0168511],
1800 [-0.00557165, 0.978053, -0.20828],
1801 [0.0160424, 0.208344, 0.977924],
1804 [-0.999698, 0.0048691, 0.0241226],
1805 [-0.00154306, 0.965899, -0.258915],
1806 [-0.0245606, -0.258874, -0.9656],
1811 [0.992858, -0.0249864, -0.116659],
1812 [0.0419872, 0.988447, 0.145634],
1813 [0.111673, -0.149492, 0.982436],
1816 [-0.992324, 0.0357741, 0.118384],
1817 [-0.0419528, 0.803113, -0.594348],
1818 [-0.116338, -0.594752, -0.795447],
1823 [0.986821, -0.00531913, 0.161729],
1824 [0.00797365, 0.999844, -0.0157688],
1825 [-0.16162, 0.0168505, 0.986709],
1828 [-0.985867, 0.0119402, -0.167109],
1829 [0.0141227, 0.99983, -0.0118784],
1830 [0.166939, -0.0140704, -0.985868],
1835 [0.999693, -0.0158939, -0.0190113],
1836 [0.0103599, 0.96501, -0.262007],
1837 [0.0225104, 0.261729, 0.964879],
1840 [-0.999344, -0.0314781, -0.0180051],
1841 [-0.0250895, 0.241673, 0.970034],
1842 [-0.0261833, 0.969847, -0.242305],
1847 [0.977445, 0.0293661, 0.209138],
1848 [-0.0723687, 0.976903, 0.201057],
1849 [-0.198403, -0.211657, 0.956994],
1852 [-0.976437, 0.00895131, -0.215624],
1853 [0.0552894, 0.976169, -0.20985],
1854 [0.208607, -0.216827, -0.953663],
1859 [0.994593, 0.0974797, -0.0358119],
1860 [-0.0822288, 0.949838, 0.301737],
1861 [0.0634288, -0.297161, 0.952718],
1864 [-0.994192, -0.10746, -0.00604622],
1865 [0.078812, -0.7651, 0.639071],
1866 [-0.0733003, 0.634882, 0.769124],
1871 [0.365674, 0.282077, -0.88697],
1872 [-0.609177, 0.793033, 0.00105565],
1873 [0.703694, 0.539936, 0.461826],
1876 [-0.469534, 0.0109062, 0.882848],
1877 [0.0060785, 0.99994, -0.00911984],
1878 [-0.882894, 0.00108445, -0.469572],
1883 [0.999956, 0.00903085, 0.0025358],
1884 [-0.00862738, 0.991574, -0.129252],
1885 [-0.00368169, 0.129224, 0.991609],
1888 [-0.999976, 0.00322491, -0.00637541],
1889 [0.00379751, 0.995755, -0.0919687],
1890 [0.00605176, -0.0919907, -0.995743],
1895 [0.999982, -0.00398882, -0.00441072],
1896 [0.00411881, 0.999545, 0.0298655],
1897 [0.00428959, -0.0298832, 0.999544],
1900 [-0.999931, -0.00315547, -0.0114491],
1901 [0.00300966, -0.999914, 0.0128304],
1902 [-0.0114875, 0.012796, 0.999853],
1907 [0.996613, 0.0781452, -0.0256245],
1908 [-0.0610516, 0.91178, 0.406116],
1909 [0.0550999, -0.403175, 0.913462],
1912 [-0.996368, -0.084671, 0.00909851],
1913 [0.0540149, -0.545774, 0.83619],
1914 [-0.0658352, 0.833644, 0.548365],
1919 [0.961059, 0.139318, 0.238654],
1920 [-0.117488, 0.987672, -0.103448],
1921 [-0.250124, 0.0713812, 0.965579],
1924 [-0.973397, 0.00782581, -0.228998],
1925 [-0.0621109, 0.952986, 0.296581],
1926 [0.220553, 0.302913, -0.927147],
1931 [0.156415, -0.982138, 0.104589],
1932 [-0.568896, -0.176149, -0.803323],
1933 [0.807398, 0.0661518, -0.586287],
1936 [-0.992155, 0.0934304, -0.0830664],
1937 [-0.121171, -0.555137, 0.822887],
1938 [0.0307694, 0.826496, 0.562102],
1943 [0.997973, 0.0130328, -0.0622976],
1944 [-0.011111, 0.999455, 0.0310968],
1945 [0.0626689, -0.0303416, 0.997573],
1948 [-0.997391, -0.00094697, 0.0722014],
1949 [-0.00271076, 0.9997, -0.024334],
1950 [-0.0721567, -0.024466, -0.997094],
1955 [0.913504, -0.0125928, -0.406634],
1956 [-0.108363, 0.95588, -0.27304],
1957 [0.392132, 0.293487, 0.871836],
1960 [-0.909813, 0.0115348, 0.414861],
1961 [0.128636, 0.958223, 0.255464],
1962 [-0.394582, 0.28579, -0.873287],
1967 [0.932595, -0.0693644, 0.354197],
1968 [0.0984415, 0.993036, -0.0647231],
1969 [-0.347241, 0.0952281, 0.932928],
1972 [-0.930498, 0.00578599, -0.366252],
1973 [-0.106202, 0.952666, 0.284867],
1974 [0.350564, 0.303964, -0.885839],
1979 [0.995668, -0.00475737, 0.0928567],
1980 [0.00890154, 0.99898, -0.0442667],
1981 [-0.0925514, 0.0449015, 0.994695],
1984 [-0.996077, -0.0107986, -0.0878355],
1985 [0.00749423, 0.978669, -0.205305],
1986 [0.0881789, -0.205158, -0.974749],
1991 [0.99948, 0.0321999, 0.00146151],
1992 [-0.0321302, 0.998886, -0.0345513],
1993 [-0.00257243, 0.0344864, 0.999402],
1996 [-0.999953, 0.00726142, -0.0065326],
1997 [0.00488529, 0.950962, 0.30927],
1998 [0.00845801, 0.309223, -0.950953],
2005 """Test selected Rot3 methods."""
2008 """Test .axisAngle() method."""
2012 [ -0.999957, 0.00922903, 0.00203116],
2013 [ 0.00926964, 0.999739, 0.0208927],
2014 [ -0.0018374, 0.0209105, -0.999781]
2019 _, actual_angle =
Rot3(R).axisAngle()
2020 expected_angle = 3.1396582
2021 np.testing.assert_almost_equal(actual_angle, expected_angle, 1e-7)
2024 """Test that .axisAngle() yields angles less than 180 degrees for specific inputs."""
2025 for (R1, R2)
in R1_R2_pairs:
2026 R1 =
Rot3(np.array(R1))
2027 R2 =
Rot3(np.array(R2))
2029 i1Ri2 = R1.between(R2)
2031 axis, angle = i1Ri2.axisAngle()
2032 angle_deg = np.rad2deg(angle)
2033 assert angle_deg < 180
2036 """Test that rotate() works for both Point3 and Unit3."""
2037 R =
Rot3(np.array([[1, 0, 0], [0, -1, 0], [0, 0, -1]]))
2039 u =
Unit3(np.array([1, 1, 1]))
2040 actual_p = R.rotate(p)
2041 actual_u = R.rotate(u)
2042 expected_p =
Point3(np.array([1, -1, -1]))
2043 expected_u =
Unit3(np.array([1, -1, -1]))
2044 np.testing.assert_array_equal(actual_p, expected_p)
2045 np.testing.assert_array_equal(actual_u.point3(), expected_u.point3())
2048 """Test that unrotate() after rotate() yields original Point3/Unit3."""
2049 wRc =
Rot3(np.array(R1_R2_pairs[0][0]))
2051 c_u =
Unit3(np.array([1, 1, 1]))
2052 w_p = wRc.rotate(c_p)
2053 w_u = wRc.rotate(c_u)
2054 actual_p = wRc.unrotate(w_p)
2055 actual_u = wRc.unrotate(w_u)
2057 np.testing.assert_almost_equal(actual_p, c_p, decimal=6)
2058 np.testing.assert_almost_equal(actual_u.point3(), c_u.point3(), decimal=6)
2061 if __name__ ==
"__main__":