using isclose

LinearAlgebra/Angle.py

@@ -1,17 +1,9 @@
 # This Source Code Form is subject to the terms of the Mozilla Public
 # License, v. 2.0.If a copy of the MPL was not distributed with this
 # file, You can obtain one at https ://mozilla.org/MPL/2.0/.
-import sys
-import os
-
-# Make the parent directory (root of the package) discoverable
-package_directory = os.path.dirname(os.path.abspath(__file__))
-sys.path.insert(0, package_directory)
-
 import math
-import importlib
+
-#from Float import *
+from .Float import *
-importlib.import_module("Float")
 
 # This is in fact AngleSingle
 class Angle:
@@ -44,10 +36,13 @@ class Angle:
         """! Tests whether this angle is equal to the given angle
         @param angle The angle to compare to
         @return True when the angles are equal, False otherwise
-        @note The equality is determine within the limits of precision of the raw
+        @note This uses float comparison to check equality which may have strange
-        type T
+        effects. Equality on floats should be avoided, use isclose instead
         """
         return self.value == angle.value
+    def isclose(self, other, rel_tol=1e-9, abs_tol=1e-9):
+        return math.isclose(self.value, other.value, rel_tol=rel_tol, abs_tol=abs_tol)
+
     def __gt__(self, angle):
         """! Tests if this angle is greater than the given angle
         @param angle The given angle

LinearAlgebra/Direction.py

@@ -74,6 +74,11 @@ class Direction:
         """
         return (self.horizontal == direction.horizontal and
                 self.vertical == direction.vertical)
+    def isclose(self, other, rel_tol=1e-9, abs_tol=1e-8):
+        return (
+            Angle.isclose(self.horizontal, other.horizontal, rel_tol=rel_tol, abs_tol=abs_tol) and
+            Angle.isclose(self.vertical, other.vertical, rel_tol=rel_tol, abs_tol=abs_tol) 
+        )
 
     def __neg__(self):
         """! Negate/reverse the direction

LinearAlgebra/Quaternion.py

@@ -118,6 +118,13 @@ class Quaternion:
             self.z == other.z and
             self.w == other.w
         )
+    def isclose(self, other, rel_tol=1e-9, abs_tol=1e-8):
+        return (
+            math.isclose(self.x, other.x, rel_tol=rel_tol, abs_tol=abs_tol) and
+            math.isclose(self.y, other.y, rel_tol=rel_tol, abs_tol=abs_tol) and
+            math.isclose(self.z, other.z, rel_tol=rel_tol, abs_tol=abs_tol) and
+            math.isclose(self.w, other.w, rel_tol=rel_tol, abs_tol=abs_tol)
+        )
 
     def SqrMagnitude(self) -> float:
         return self.x * self.x + self.y * self.y + self.z * self.z + self.w * self.w

LinearAlgebra/Spherical.py

@@ -1,4 +1,5 @@
 import math
+
 from .Direction import *
 from .Vector import *
 
@@ -83,6 +84,12 @@ class Polar:
             self.distance == other.distance and
             self.direction == other.direction
         )    
+    def isclose(self, other, rel_tol=1e-9, abs_tol=1e-8):
+        return (
+            math.isclose(self.distance, other.distance, rel_tol=rel_tol, abs_tol=abs_tol) and
+            self.direction.isclose(other.direction, rel_tol, abs_tol)
+        )
+
         
     def Magnitude(self) -> float:
         return math.fabs(self.distance)
@@ -311,7 +318,12 @@ class Spherical(Polar):
         return (
             self.distance == other.distance and
             self.direction == other.direction
-        )    
+        )
+    def isclose(self, other, rel_tol=1e-9, abs_tol=1e-8):
+        return (
+            math.isclose(self.distance, other.distance, rel_tol=rel_tol, abs_tol=abs_tol) and
+            self.direction.isclose(other.direction, rel_tol, abs_tol)
+        )
 
     def Normalized(self) -> float:
         if self.distance == 0:

LinearAlgebra/SwingTwist.py

@@ -78,7 +78,13 @@ class SwingTwist:
         return (
             self.swing == other.swing and
             self.twist == other.twist
-        )    
+        )
+    def isclose(self, other, rel_tol=1e-9, abs_tol=1e-8):
+        return (
+            self.swing.isclose(other.swing, rel_tol, abs_tol) and
+            Angle.isclose(self.twist, other.twist, rel_tol=rel_tol, abs_tol=abs_tol)
+        )
+
     
     @staticmethod
     def Angle(r1, r2) -> Angle:

Vector.py

@@ -0,0 +1,416 @@
+import math
+
+from LinearAlgebra.Angle import *
+
+epsilon = 1E-05
+
+class Vector2:
+    def __init__(self, right: float = 0, up: float = 0):
+        """! A new 2-dimensional vector
+        @param right The distance in the right direction in meters
+        @param up The distance in the upward direction in meters
+        """
+        ## The right axis of the vector
+        self.right: float = right
+        ## The upward axis of the vector
+        self.up: float = up
+
+    def __eq__(self, other) -> bool:
+        """! Check if this vector is equal to the given vector
+        @param v The vector to check against
+        @return true if it is identical to the given vector
+        @note This uses float comparison to check equality which may have strange
+        effects. Equality on floats should be avoided.
+        """
+        return (
+            self.right == other.right and
+            self.up == other.up
+        )    
+
+    def SqrMagnitude(self) -> float:
+        """! The squared vector length
+        @return The squared vector length
+        @remark The squared length is computationally simpler than the real
+        length. Think of Pythagoras A^2 + B^2 = C^2. This leaves out the
+        calculation of the squared root of C.
+        """
+        return self.right ** 2 + self.up ** 2
+
+    def Magnitude(self) -> float:
+        """! The vector length
+        @return The vector length
+        """
+        return math.sqrt(self.SqrMagnitude())
+
+    def Normalized(self):
+        """! Convert the vector to a length of 1
+        @return The vector normalized to a length of 1
+        """
+        length: float = self.Magnitude();
+        result = Vector2.zero
+        if length > epsilon:
+            result = self / length;
+        return result
+
+    def __neg__(self):
+        """! Negate te vector such that it points in the opposite direction
+        @return The negated vector
+        """
+        return Vector2(-self.right, -self.up)
+    
+    def __sub__(self, other):
+        """! Subtract a vector from this vector
+        @param other The vector to subtract from this vector
+        @return The result of this subtraction
+        """
+        return Vector2(
+            self.right - other.right,
+            self.up - other.up
+        )
+
+    def __add__(self, other):
+        """! Add a vector to this vector
+        @param other The vector to add to this vector
+        @return The result of the addition
+        """
+        return Vector2(
+            self.right + other.right,
+            self.up + other.up
+        )
+    
+    def Scale(self, scaling):
+        """! Scale the vector using another vector
+        @param scaling A vector with the scaling factors
+        @return The scaled vector
+        @remark Each component of the vector will be multiplied with the
+        matching component from the scaling vector.
+        """
+        return Vector2(
+            self.right * scaling.right,
+            self.up * scaling.up
+        )
+    
+    def __mul__(self, factor):
+        """! Scale the vector uniformly up
+        @param factor The scaling factor
+        @return The scaled vector
+        @remark Each component of the vector will be multiplied by the same factor.
+        """
+        return Vector2(
+            self.right * factor,
+            self.up * factor
+        )
+    
+    def __truediv__(self, factor):
+        """! Scale the vector uniformly down
+        @param f The scaling factor
+        @return The scaled vector
+        @remark Each component of the vector will be divided by the same factor.
+        """
+        return Vector2(
+            self.right / factor,
+            self.up / factor
+        )
+
+    @staticmethod
+    def Distance(v1, v2) -> float:
+        """! The distance between two vectors
+        @param v1 The first vector
+        @param v2 The second vector
+        @return The distance between the two vectors
+        """
+        return (v1 - v2).Magnitude()
+    
+    @staticmethod
+    def Dot(v1, v2) -> float:
+        """! The dot product of two vectors
+        @param v1 The first vector
+        @param v2 The second vector
+        @return The dot product of the two vectors
+        """
+        return v1.right * v2.right + v1.up * v2.up
+    
+    @staticmethod
+    def Angle(v1, v2) -> Angle:
+        """! The angle between two vectors
+        @param v1 The first vector
+        @param v2 The second vector
+        @return The angle between the two vectors
+        @remark This reterns an unsigned angle which is the shortest distance
+        between the two vectors. Use Vector3::SignedAngle if a signed angle is
+        needed.
+        """
+        denominator: float = math.sqrt(v1.SqrMagnitude() * v2.SqrMagnitude())
+        if denominator < epsilon:
+            return Angle.zero
+
+        dot: float = Vector2.Dot(v1, v2)
+        fraction: float = dot / denominator
+        # if math.nan(fraction):
+        #     return Angle.Degrees(fraction) # short cut to returning NaN universally
+
+        cdot: float = Float.Clamp(fraction, -1.0, 1.0)
+        r: float = math.acos(cdot)
+        return Angle.Radians(r);
+
+    @staticmethod
+    def SignedAngle(v1, v2) -> Angle:
+        """! The signed angle between two vectors
+        @param v1 The starting vector
+        @param v2 The ending vector
+        @param axis The axis to rotate around
+        @return The signed angle between the two vectors
+        """
+        sqr_mag_from: float = v1.SqrMagnitude()
+        sqr_mag_to: float = v2.SqrMagnitude()
+
+        if sqr_mag_from == 0 or sqr_mag_to == 0:
+            return Angle.zero
+        # if (!isfinite(sqrMagFrom) || !isfinite(sqrMagTo))
+        #     return nanf("");
+
+        angle_from = math.atan2(v1.up, v1.right)
+        angle_to = math.atan2(v2.up, v2.right)
+        return Angle.Radians(-(angle_to - angle_from))
+    
+    @staticmethod
+    def Lerp(v1, v2, f: float):
+        """! Lerp (linear interpolation) between two vectors
+        @param v1 The starting vector
+        @param v2 The ending vector
+        @param f The interpolation distance
+        @return The lerped vector
+        @remark The factor f is unclamped. Value 0 matches the vector *v1*, Value
+        1 matches vector *v2*. Value -1 is vector *v1* minus the difference
+        between *v1* and *v2* etc.
+        """
+        return v1 + (v2 - v1) * f
+
+
+## A vector with zero for all axis
+Vector2.zero = Vector2(0, 0)
+## A vector with one for all axis
+Vector2.one = Vector2(1, 1)
+## A normalized right-oriented vector
+Vector2.right = Vector2(1, 0)
+## A normalized left-oriented vector
+Vector2.left = Vector2(-1, 0)
+## A normalized up-oriented vector
+Vector2.up = Vector2(0, 1)
+## A normalized down-oriented vector
+Vector2.down = Vector2(0, -1)
+
+class Vector3(Vector2):
+    def __init__(self, right: float = 0, up: float = 0, forward: float = 0):
+        """! A new 3-dimensional vector
+        @param right The distance in the right direction in meters
+        @param up The distance in the upward direction in meters
+        @param forward The distance in the forward direction in meters
+        """
+        ## The right axis of the vector
+        self.right: float = right
+        ## The upward axis of the vector
+        self.up: float = up
+        ## The forward axis of the vector
+        self.forward: float = forward
+    
+    def __eq__(self, other) -> bool:
+        """! Check if this vector is equal to the given vector
+        @param v The vector to check against
+        @return true if it is identical to the given vector
+        @note This uses float comparison to check equality which may have strange
+        effects. Equality on floats should be avoided.
+        """
+        return (
+            self.right == other.right and
+            self.up == other.up and
+            self.forward == other.forward
+        )    
+
+    def SqrMagnitude(self) -> float:
+        """! The squared vector length
+        @return The squared vector length
+        @remark The squared length is computationally simpler than the real
+        length. Think of Pythagoras A^2 + B^2 = C^2. This leaves out the
+        calculation of the squared root of C.
+        """
+        return self.right ** 2 + self.up ** 2 + self.forward ** 2
+    
+    def Normalized(self):
+        """! Convert the vector to a length of 1
+        @return The vector normalized to a length of 1
+        """
+        length: float = self.Magnitude();
+        result = Vector3()
+        if length > epsilon:
+            result = self / length;
+        return result
+
+    def __neg__(self):
+        """! Negate te vector such that it points in the opposite direction
+        @return The negated vector
+        """
+        return Vector3(-self.right, -self.up, -self.forward)
+    
+    def __sub__(self, other):
+        """! Subtract a vector from this vector
+        @param other The vector to subtract from this vector
+        @return The result of this subtraction
+        """
+        return Vector3(
+            self.right - other.right,
+            self.up - other.up,
+            self.forward - other.forward
+        )
+
+    def __add__(self, other):
+        """! Add a vector to this vector
+        @param other The vector to add to this vector
+        @return The result of the addition
+        """
+        return Vector3(
+            self.right + other.right,
+            self.up + other.up,
+            self.forward + other.forward
+        )
+    
+    def Scale(self, scaling):
+        """! Scale the vector using another vector
+        @param scaling A vector with the scaling factors
+        @return The scaled vector
+        @remark Each component of the vector will be multiplied with the
+        matching component from the scaling vector.
+        """
+        return Vector3(
+            self.right * scaling.right,
+            self.up * scaling.up,
+            self.forward * scaling.forward
+        )
+    
+    def __mul__(self, factor):
+        """! Scale the vector uniformly up
+        @param factor The scaling factor
+        @return The scaled vector
+        @remark Each component of the vector will be multiplied by the same factor.
+        """
+        return Vector3(
+            self.right * factor,
+            self.up * factor,
+            self.forward * factor
+        )
+    
+    def __truediv__(self, factor):
+        """! Scale the vector uniformly down
+        @param f The scaling factor
+        @return The scaled vector
+        @remark Each component of the vector will be divided by the same factor.
+        """
+        return Vector3(
+            self.right / factor,
+            self.up / factor,
+            self.forward / factor
+        )
+    
+    @staticmethod
+    def Dot(v1, v2) -> float:
+        """! The dot product of two vectors
+        @param v1 The first vector
+        @param v2 The second vector
+        @return The dot product of the two vectors
+        """
+        return v1.right * v2.right + v1.up * v2.up + v1.forward * v2.forward
+    
+    @staticmethod
+    def Cross(v1, v2):
+        """! The cross product of two vectors
+        @param v1 The first vector
+        @param v2 The second vector
+        @return The cross product of the two vectors
+        """
+        return Vector3(
+            v1.up * v2.forward - v1.forward * v2.up,
+            v1.forward * v2.right - v1.right * v2.forward,
+            v1.right * v2.up - v1.up * v2.right
+        )
+
+    def Project(self, other):
+        """! Project the vector on another vector
+        @param other The normal vecto to project on
+        @return The projected vector
+        """
+        sqrMagnitude = other.SqrMagnitude()
+        if sqrMagnitude < epsilon:
+            return Vector3.zero
+        else:
+            dot = Vector3.Dot(self, other)
+            return other * dot / sqrMagnitude;
+
+    def ProjectOnPlane(self, normal):
+        """! Project the vector on a plane defined by a normal orthogonal to the
+        plane.
+        @param normal The normal of the plane to project on
+        @return Teh projected vector
+        """
+        return self - self.Project(normal)
+    
+    @staticmethod
+    def Angle(v1, v2) -> Angle:
+        """! The angle between two vectors
+        @param v1 The first vector
+        @param v2 The second vector
+        @return The angle between the two vectors
+        @remark This reterns an unsigned angle which is the shortest distance
+        between the two vectors. Use Vector3::SignedAngle if a signed angle is
+        needed.
+        """
+        denominator: float = math.sqrt(v1.SqrMagnitude() * v2.SqrMagnitude())
+        if denominator < epsilon:
+            return Angle.zero
+
+        dot: float = Vector3.Dot(v1, v2)
+        fraction: float = dot / denominator
+        if math.isnan(fraction):
+            return Angle.Degrees(fraction) # short cut to returning NaN universally
+
+        cdot: float = Float.Clamp(fraction, -1.0, 1.0)
+        r: float = math.acos(cdot)
+        return Angle.Radians(r);
+
+    @staticmethod
+    def SignedAngle(v1, v2, axis) -> Angle:
+        """! The signed angle between two vectors
+        @param v1 The starting vector
+        @param v2 The ending vector
+        @param axis The axis to rotate around
+        @return The signed angle between the two vectors
+        """
+        # angle in [0,180]
+        angle: Angle = Vector3.Angle(v1, v2)
+
+        cross: Vector3 = Vector3.Cross(v1, v2)
+        b: float = Vector3.Dot(axis, cross)
+        sign:int = 0
+        if b < 0:
+            sign = -1
+        elif b > 0:
+            sign = 1
+
+        # angle in [-179,180]
+        return angle * sign
+    
+## A vector with zero for all axis
+Vector3.zero = Vector3(0, 0, 0)
+## A vector with one for all axis
+Vector3.one = Vector3(1, 1, 1)
+## A normalized forward-oriented vector
+Vector3.forward = Vector3(0, 0, 1)
+## A normalized back-oriented vector
+Vector3.back = Vector3(0, 0, -1)
+## A normalized right-oriented vector
+Vector3.right = Vector3(1, 0, 0)
+## A normalized left-oriented vector
+Vector3.left = Vector3(-1, 0, 0)
+## A normalized up-oriented vector
+Vector3.up = Vector3(0, 1, 0)
+## A normalized down-oriented vector
+Vector3.down = Vector3(0, -1, 0)

test/Angle_test.py

@@ -1,10 +1,6 @@
 import unittest
-import sys
-from pathlib import Path
-# Add the project root to sys.path
-sys.path.append(str(Path(__file__).resolve().parent.parent))
                 
-from Angle import *
+from LinearAlgebra.Angle import *
 
 class AngleTest(unittest.TestCase):
     def test_Construct(self):

test/Direction_test.py

@@ -1,10 +1,6 @@
 import unittest
-import sys
-from pathlib import Path
-# Add the project root to sys.path
-sys.path.append(str(Path(__file__).resolve().parent.parent))
                 
-from Direction import *
+from LinearAlgebra.Direction import *
 
 class DirectionTest(unittest.TestCase):
     def test_Compare(self):

test/Float_test.py

@@ -1,10 +1,6 @@
 import unittest
-import sys
-from pathlib import Path
-# Add the project root to sys.path
-sys.path.append(str(Path(__file__).resolve().parent.parent))
                 
-from Float import *
+from LinearAlgebra.Float import *
 
 class FloatTest(unittest.TestCase):
     def test_Clamp(self):

test/Quaternion_test.py

@@ -1,10 +1,6 @@
 import unittest
-import sys
-from pathlib import Path
-# Add the project root to sys.path
-sys.path.append(str(Path(__file__).resolve().parent.parent))
                 
-from Quaternion import *
+from LinearAlgebra.Quaternion import *
 
 class QuaternionTest(unittest.TestCase):
     def test_Equality(self):
@@ -22,7 +18,7 @@ class QuaternionTest(unittest.TestCase):
 
         q = Quaternion.FromAngles(Angle.Degrees(90), Angle.Degrees(90), Angle.Degrees(-90))
         sqrt2_2 = math.sqrt(2) / 2
-        assert(q == Quaternion(0, sqrt2_2, -sqrt2_2, 0))
+        assert(Quaternion.isclose(q, Quaternion(0, sqrt2_2, -sqrt2_2, 0)))
         
     def test_ToAngles(self):
         q1 = Quaternion.identity
@@ -39,7 +35,8 @@ class QuaternionTest(unittest.TestCase):
 
         q = Quaternion.Degrees(90, 90, -90)
         sqrt2_2 = math.sqrt(2) / 2
-        assert(q == Quaternion(0, sqrt2_2, -sqrt2_2, 0))
+        assert(Quaternion.isclose(q, Quaternion(0, sqrt2_2, -sqrt2_2, 0)))
+        # assert(q == Quaternion(0, sqrt2_2, -sqrt2_2, 0))
 
     def test_Radians(self):
         q = Quaternion.Radians(0, 0, 0)
@@ -47,7 +44,8 @@ class QuaternionTest(unittest.TestCase):
 
         q = Quaternion.Radians(math.pi / 2, math.pi / 2, -math.pi / 2)
         sqrt2_2 = math.sqrt(2) / 2
-        assert(q == Quaternion(0, sqrt2_2, -sqrt2_2, 0))
+        assert(Quaternion.isclose(q, Quaternion(0, sqrt2_2, -sqrt2_2, 0)))
+        # assert(q == Quaternion(0, sqrt2_2, -sqrt2_2, 0))
 
     def test_Multiply(self):
         q1 = Quaternion.identity

test/Spherical_test.py

@@ -1,10 +1,6 @@
 import unittest
-import sys
-from pathlib import Path
-# Add the project root to sys.path
-sys.path.append(str(Path(__file__).resolve().parent.parent))
                 
-from Spherical import *
+from LinearAlgebra.Spherical import *
 
 class PolarTest(unittest.TestCase):
     def test_FromVector2(self):
@@ -157,7 +153,7 @@ class PolarTest(unittest.TestCase):
 
         v2 = Polar.Degrees(-1, -135)
         r = Polar.Distance(v1, v2)
-        assert(r == 3)
+        assert(math.isclose(r, 3))
 
         v2 = Polar.Degrees(0, 0)
         r = Polar.Distance(v1, v2)
@@ -207,10 +203,10 @@ class PolarTest(unittest.TestCase):
         assert(r == v1)
   
         r = Polar.Lerp(v1, v2, 1)
-        assert(r == v2)
+        assert(Polar.isclose(r, v2))
 
         r = Polar.Lerp(v1, v2, 0.5)
-        assert(r == Polar.Degrees(3, 0))
+        assert(Polar.isclose(r, Polar.Degrees(3, 0)))
 
         r = Polar.Lerp(v1, v2, -1)
         assert(r == Polar.Degrees(9, 135))
@@ -316,7 +312,7 @@ class SphericalTest(unittest.TestCase):
 
         v2 = Spherical.Degrees(1, 45, 0)
         r = v1 - v2
-        assert(r == Spherical.Degrees(3, 45, 0))
+        assert(Spherical.isclose(r, Spherical.Degrees(3, 45, 0)))
 
         v2 = Spherical.Degrees(1, -135, 0)
         r = v1 - v2
@@ -336,15 +332,15 @@ class SphericalTest(unittest.TestCase):
 
         v2 = Spherical(1, Direction.Degrees(-45, 0))
         r = v1 + v2
-        assert(r.distance == math.sqrt(2))
+        assert(math.isclose(r.distance, math.sqrt(2)))
-        assert(r.direction.horizontal.InDegrees() == 0)
+        assert(Angle.isclose(r.direction.horizontal, Angle.Degrees(0)))
-        assert(r.direction.vertical.InDegrees() == 0)
+        assert(Angle.isclose(r.direction.vertical, Angle.Degrees(0)))
 
         v2 = Spherical(1, Direction.Degrees(0, 90))
         r = v1 + v2
-        assert(r.distance == math.sqrt(2))
+        assert(math.isclose(r.distance, math.sqrt(2)))
-        assert(r.direction.horizontal.InDegrees() == 45)
+        assert(Angle.isclose(r.direction.horizontal, Angle.Degrees(45)))
-        assert(r.direction.vertical.InDegrees() == 45)
+        assert(Angle.isclose(r.direction.vertical, Angle.Degrees(45)))
 
     def test_Multiply(self):
         r = Spherical.zero
@@ -379,7 +375,7 @@ class SphericalTest(unittest.TestCase):
 
         v2 = Spherical.Degrees(-1, -135, 0)
         r = Spherical.Distance(v1, v2)
-        assert(r == 3)
+        assert(math.isclose(r, 3))
 
         v2 = Spherical.Degrees(0, 0, 0)
         r = Spherical.Distance(v1, v2)
@@ -429,10 +425,10 @@ class SphericalTest(unittest.TestCase):
         assert(r == v1)
   
         r = Spherical.Lerp(v1, v2, 1)
-        assert(r == v2)
+        assert(Spherical.isclose(r, v2))
 
         r = Spherical.Lerp(v1, v2, 0.5)
-        assert(r == Spherical.Degrees(3, 0, 0))
+        assert(Spherical.isclose(r, Spherical.Degrees(3, 0, 0)))
 
         r = Spherical.Lerp(v1, v2, -1)
         assert(r == Spherical.Degrees(9, 135, 0))

test/SwingTwist_test.py

@@ -1,10 +1,6 @@
 import unittest
-import sys
-from pathlib import Path
-# Add the project root to sys.path
-sys.path.append(str(Path(__file__).resolve().parent.parent))
                 
-from SwingTwist import *
+from LinearAlgebra.SwingTwist import *
 
 class SwingTwistTest(unittest.TestCase):
     def test_Constructor(self):
@@ -36,7 +32,7 @@ class SwingTwistTest(unittest.TestCase):
 
         q = Quaternion.Degrees(90, 0, 0)
         r = SwingTwist.FromQuaternion(q)
-        assert(r == SwingTwist.Degrees(90, 0, 0))
+        assert(SwingTwist.isclose(r, SwingTwist.Degrees(90, 0, 0)))
 
         q = Quaternion.Degrees(0, 90, 0)
         r = SwingTwist.FromQuaternion(q)

test/Vector_test.py

@@ -1,10 +1,6 @@
 import unittest
-import sys
-from pathlib import Path
-# Add the project root to sys.path
-sys.path.append(str(Path(__file__).resolve().parent.parent))
                 
-from Vector import *
+from LinearAlgebra.Vector import *
 
 class Vector2Test(unittest.TestCase):
     def test_Equality(self):