Add additional unit test

pytransform3d/test/test_geometry.py

@@ -1,6 +1,7 @@
 import numpy as np
 
 import pytransform3d.geometry as pg
+import pytransform3d.transformations as pt
 from numpy.testing import assert_array_equal, assert_array_almost_equal
 
 
@@ -13,3 +14,15 @@ def test_unit_sphere():
  P = np.column_stack((x.reshape(-1), y.reshape(-1), z.reshape(-1)))
  norms = np.linalg.norm(P, axis=1)
  assert_array_almost_equal(norms, np.ones_like(norms))
+
+
+def test_transform_surface():
+ x, y, z = pg.unit_sphere_surface_grid(10)
+
+ p = np.array([0.2, -0.5, 0.7])
+ pose = pt.transform_from(R=np.eye(3), p=p)
+ x, y, z = pg.transform_surface(pose, x, y, z)
+
+ P = np.column_stack((x.reshape(-1), y.reshape(-1), z.reshape(-1)))
+ norms = np.linalg.norm(P - p[np.newaxis], axis=1)
+ assert_array_almost_equal(norms, np.ones_like(norms))