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import numpy as np
import pytest
from manifpy import SO2, SO2Tangent
def test_constructor():
state = SO2(0.17)
assert 0.17 == state.angle()
state = SO2(1, 0)
assert 0 == state.angle()
delta = SO2Tangent(0.17)
assert 0.17 == delta.angle()
def test_accessors():
state = SO2.Identity()
assert 1 == state.real()
assert 0 == state.imag()
assert 0 == state.angle()
delta = SO2Tangent.Zero()
assert 0 == delta.angle()
def test_transform():
state = SO2.Identity()
transform = state.transform()
assert (3, 3) == transform.shape
assert (np.identity(3) == transform).all()
def test_rotation():
state = SO2.Identity()
rotation = state.rotation()
assert (2, 2) == rotation.shape
assert (np.identity(2) == rotation).all()
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