TST: correct matrix transpose

MateusStano · MateusStano · commit 7d2ffad89c3e · 2025-04-24T20:31:54.000+02:00
diff --git a/tests/unit/test_sensor.py b/tests/unit/test_sensor.py
@@ -76,7 +76,9 @@ def test_rotation_matrix(noisy_rotated_accelerometer):
             [0.7499999999999999, 0.43301270189221946, 0.5000000000000001],
         ]
     )
-    rotation_matrix = np.array(noisy_rotated_accelerometer.rotation_sensor_to_body.components)
+    rotation_matrix = np.array(
+        noisy_rotated_accelerometer.rotation_sensor_to_body.components
+    )
     assert np.allclose(expected_matrix, rotation_matrix, atol=1e-8)
 
 
@@ -291,7 +293,7 @@ def test_noisy_rotated_accelerometer(noisy_rotated_accelerometer, example_plain_
         euler313_to_quaternions(*np.deg2rad([60, 60, 60]))
     )
     total_rotation = sensor_rotation @ cross_axis_sensitivity
-    rocket_rotation = Matrix.transformation(U[6:10])
+    rocket_rotation = Matrix.transformation(U[6:10]).transpose
     # expected measurement without noise
     ax, ay, az = total_rotation @ (rocket_rotation @ acceleration)
     # expected measurement with constant bias

Original file line number	Diff line number	Diff line change
`@@ -76,7 +76,9 @@ def test_rotation_matrix(noisy_rotated_accelerometer):`
`76`	`76`	`[0.7499999999999999, 0.43301270189221946, 0.5000000000000001],`
`77`	`77`	`]`
`78`	`78`	`)`
`79`		`- rotation_matrix = np.array(noisy_rotated_accelerometer.rotation_sensor_to_body.components)`
	`79`	`+ rotation_matrix = np.array(`
	`80`	`+ noisy_rotated_accelerometer.rotation_sensor_to_body.components`
	`81`	`+ )`
`80`	`82`	`assert np.allclose(expected_matrix, rotation_matrix, atol=1e-8)`
`81`	`83`
`82`	`84`
`@@ -291,7 +293,7 @@ def test_noisy_rotated_accelerometer(noisy_rotated_accelerometer, example_plain_`
`291`	`293`	`euler313_to_quaternions(*np.deg2rad([60, 60, 60]))`
`292`	`294`	`)`
`293`	`295`	`total_rotation = sensor_rotation @ cross_axis_sensitivity`
`294`		`- rocket_rotation = Matrix.transformation(U[6:10])`
	`296`	`+ rocket_rotation = Matrix.transformation(U[6:10]).transpose`
`295`	`297`	`# expected measurement without noise`
`296`	`298`	`ax, ay, az = total_rotation @ (rocket_rotation @ acceleration)`
`297`	`299`	`# expected measurement with constant bias`