def test_compute_translation_to_direction_angle_is_nonzero(self):
    rz = np.deg2rad(90)
    wRi2 = Rot3.RzRyRx(0, 0, rz)
    wTi2_estimated = Pose3(wRi2, Point3(0, 0, 0))
    wTi1_estimated = Pose3(Rot3(), Point3((- 1), 0, 0))
    i2Ui1_measured = Unit3(Point3(1, 0, 0))
    self.assertTrue(geometry_comparisons.compute_translation_to_direction_angle(i2Ui1_measured, wTi2_estimated, wTi1_estimated), 90.0)
def test_compute_translation_to_direction_angle_is_nonzero(self):
    rz = np.deg2rad(90)
    wRi2 = Rot3.RzRyRx(0, 0, rz)
    wTi2_estimated = Pose3(wRi2, Point3(0, 0, 0))
    wTi1_estimated = Pose3(Rot3(), Point3((- 1), 0, 0))
    i2Ui1_measured = Unit3(Point3(1, 0, 0))
    self.assertTrue(geometry_comparisons.compute_translation_to_direction_angle(i2Ui1_measured, wTi2_estimated, wTi1_estimated), 90.0)