Add Tests for Quaternion methods log and logarithm.

Mayitzin · Nov 6, 2024 · 6c269ab · 6c269ab
1 parent aeeac7d
commit 6c269ab
Showing 1 changed file with 18 additions and 0 deletions.
diff --git a/tests/test_quaternions.py b/tests/test_quaternions.py
@@ -147,6 +147,24 @@ def test_exp(self):
         np.testing.assert_allclose(ahrs.Quaternion([0, 0, 1, 0]).exp, [np.cos(1), 0, np.sin(1), 0])
         np.testing.assert_allclose(ahrs.Quaternion([0, 0, 0, 1]).exp, [np.cos(1), 0, 0, np.sin(1)])
 
+    def test_logarithm(self):
+        np.testing.assert_allclose(ahrs.Quaternion([1, 0, 0, 0]).logarithm, [0, 0, 0, 0])
+        np.testing.assert_allclose(ahrs.Quaternion([0, 1, 0, 0]).logarithm, [0, np.pi/2, 0, 0])
+        np.testing.assert_allclose(ahrs.Quaternion([0, 0, 1, 0]).logarithm, [0, 0, np.pi/2, 0])
+        np.testing.assert_allclose(ahrs.Quaternion([0, 0, 0, 1]).logarithm, [0, 0, 0, np.pi/2])
+        np.testing.assert_allclose(ahrs.Quaternion([1, 1, 0, 0]).logarithm, [0, np.pi/4, 0, 0])
+        np.testing.assert_allclose(ahrs.Quaternion([1, 0, 1, 0]).logarithm, [0, 0, np.pi/4, 0])
+        np.testing.assert_allclose(ahrs.Quaternion([1, 0, 0, 1]).logarithm, [0, 0, 0, np.pi/4])
+
+    def test_log(self):
+        np.testing.assert_allclose(ahrs.Quaternion([1, 0, 0, 0]).log, [0, 0, 0, 0])
+        np.testing.assert_allclose(ahrs.Quaternion([0, 1, 0, 0]).log, [0, np.pi/2, 0, 0])
+        np.testing.assert_allclose(ahrs.Quaternion([0, 0, 1, 0]).log, [0, 0, np.pi/2, 0])
+        np.testing.assert_allclose(ahrs.Quaternion([0, 0, 0, 1]).log, [0, 0, 0, np.pi/2])
+        np.testing.assert_allclose(ahrs.Quaternion([1, 1, 0, 0]).log, [0, np.pi/4, 0, 0])
+        np.testing.assert_allclose(ahrs.Quaternion([1, 0, 1, 0]).log, [0, 0, np.pi/4, 0])
+        np.testing.assert_allclose(ahrs.Quaternion([1, 0, 0, 1]).log, [0, 0, 0, np.pi/4])
+
 class TestQuaternionArray(unittest.TestCase):
     def setUp(self) -> None:
         self.Q0 = ahrs.QuaternionArray()