47 lines
1.5 KiB
Python
47 lines
1.5 KiB
Python
import numpy as np
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import pytest
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from algebra.versor import unitize_versor, versor_condition
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from persona.motor import PersonaMotor
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def _random_versor(seed=0) -> np.ndarray:
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rng = np.random.default_rng(seed)
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return unitize_versor(rng.standard_normal(32).astype(np.float32))
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def test_identity_motor_no_change():
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"""Identity motor returns input unchanged."""
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motor = PersonaMotor.identity()
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F = _random_versor(0)
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result = motor.apply(F)
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assert np.allclose(result, F, atol=1e-5)
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def test_motor_application_stays_on_manifold():
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"""Applying a motor keeps F on the versor manifold."""
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t = unitize_versor(_random_versor(1))
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r = unitize_versor(_random_versor(2))
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motor = PersonaMotor(t, r)
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F = _random_versor(3)
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result = motor.apply(F)
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assert versor_condition(result) < 1e-4
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def test_motor_composition_on_manifold():
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"""Composing two motors produces a motor on the manifold."""
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t1 = unitize_versor(_random_versor(0))
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r1 = unitize_versor(_random_versor(1))
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t2 = unitize_versor(_random_versor(2))
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r2 = unitize_versor(_random_versor(3))
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m1 = PersonaMotor(t1, r1)
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m2 = PersonaMotor(t2, r2)
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composed = m1.compose(m2)
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assert versor_condition(composed.M) < 1e-4
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def test_from_concept_vector():
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"""PersonaMotor.from_concept_vector should not raise and produces a valid motor."""
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concept = np.array([0.5, -0.3, 0.8], dtype=np.float32)
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motor = PersonaMotor.from_concept_vector(concept)
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assert versor_condition(motor.M) < 1e-4
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