Commit 836d732a by Gabriele Buondonno

### [unittest/python/rpy] Appease codacy

parent d92b3199
Pipeline #12440 passed with stage
in 224 minutes and 41 seconds
 ... ... @@ -48,26 +48,26 @@ class TestRPY(TestCase): r = random()*2*pi - pi p = random()*pi - pi/2 y = random()*2*pi - pi R = rpyToMatrix(r, p, y) Raa = AngleAxis(y, np.array([0., 0., 1.])).matrix() \ .dot(AngleAxis(p, np.array([0., 1., 0.])).matrix()) \ .dot(AngleAxis(r, np.array([1., 0., 0.])).matrix()) self.assertApprox(R, Raa) v = np.array([r, p, y]) Rv = rpyToMatrix(v) self.assertApprox(Rv, Raa) self.assertApprox(Rv, R) def test_matrixToRpy(self): n = 100 for k in range(n): for _ in range(n): quat = pin.Quaternion(np.random.rand(4,1)).normalized() R = quat.toRotationMatrix() ... ... @@ -85,10 +85,10 @@ class TestRPY(TestCase): Rp = np.array([[ 0.0, 0.0, 1.0], [ 0.0, 1.0, 0.0], [-1.0, 0.0, 0.0]]) for k in range(n2): for _ in range(n2): r = random()*2*pi - pi y = random()*2*pi - pi R = AngleAxis(y, np.array([0., 0., 1.])).matrix() \ .dot(Rp) \ .dot(AngleAxis(r, np.array([1., 0., 0.])).matrix()) ... ... @@ -105,10 +105,10 @@ class TestRPY(TestCase): Rp = np.array([[0.0, 0.0, -1.0], [0.0, 1.0, 0.0], [1.0, 0.0, 0.0]]) for k in range(n2): for _ in range(n2): r = random()*2*pi - pi y = random()*2*pi - pi R = AngleAxis(y, np.array([0., 0., 1.])).matrix() \ .dot(Rp) \ .dot(AngleAxis(r, np.array([1., 0., 0.])).matrix()) ... ...
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