Added some testcases for some of the math helpers in rotations.py. Also fixed quatProduct, see issue 684. After this PR confirms that the new testcases are working properly, I will rewrite some of these methods to use scipy. I didn't want to change the methods at the same time as I added the testcases, because then there is no confirmation that the new implementations work.
Added some testcases for some of the math helpers in
rotations.py
. Also fixedquatProduct
, see issue 684. After this PR confirms that the new testcases are working properly, I will rewrite some of these methods to use scipy. I didn't want to change the methods at the same time as I added the testcases, because then there is no confirmation that the new implementations work.closes #684