Add tests for euler angles equal to 0 or factors of 2*pi in DCM.

Mayitzin · Oct 18, 2024 · 9f6e068 · 9f6e068
1 parent 92ab447
commit 9f6e068
Showing 1 changed file with 7 additions and 0 deletions.
diff --git a/tests/test_dcm.py b/tests/test_dcm.py
@@ -58,6 +58,13 @@ def test_rotation_matrix_from_euler_angles(self):
 
     def test_identity_rotation_matrix(self):
         np.testing.assert_equal(self.R0, np.identity(3))
+        np.testing.assert_equal(ahrs.DCM(), np.identity(3))
+        np.testing.assert_equal(ahrs.DCM(x=0.0), np.identity(3))
+        np.testing.assert_equal(ahrs.DCM(y=0.0), np.identity(3))
+        np.testing.assert_equal(ahrs.DCM(z=0.0), np.identity(3))
+        np.testing.assert_almost_equal(ahrs.DCM(x=360.0*ahrs.DEG2RAD), np.identity(3))
+        np.testing.assert_almost_equal(ahrs.DCM(y=360.0*ahrs.DEG2RAD), np.identity(3))
+        np.testing.assert_almost_equal(ahrs.DCM(z=360.0*ahrs.DEG2RAD), np.identity(3))
 
     def test_wrong_input_matrix(self):
         self.assertRaises(TypeError, ahrs.DCM, 3)