Fixed rotation/angular velocity interpolation (#482)

ale/rotation.py

@@ -268,8 +268,8 @@ class TimeDependentRotation:
 
         # Determine interpolation intervals for input times
         av_idx = np.searchsorted(self.times, vec_times)
-        rot_idx = av_idx - 1
-        rot_idx[rot_idx < 0] = 0
+        rot_idx = av_idx
+        rot_idx[rot_idx > len(self.times) - 1] = len(self.times) - 1
 
         # Interpolate/extrapolate rotations
         time_diffs = vec_times - self.times[rot_idx]

tests/pytests/test_mex_drivers.py

@@ -470,14 +470,14 @@ def usgscsm_compare_dict():
         -404.65806593586274
       ],
       [
-        3509.6584138034805,
-        -1143.4324359444547,
-        -502.6029463187759
+        3509.658413803481,
+        -1143.4324359444558,
+        -502.60294631877633
       ],
       [
         3509.443153282348,
         -1124.8866548757137,
-        -551.4851113671583
+        -551.4851113671589
       ]
     ],
     "Velocities": [
@@ -487,14 +487,14 @@ def usgscsm_compare_dict():
         -3.987265079143158
       ],
       [
-        0.00039300972273872503,
-        1.5024971608516042,
-        -3.9781429683723304
+        0.0003930097236827663,
+        1.5024971609204454,
+        -3.978142968522354
       ],
       [
-        -0.03540185319107661,
-        1.5140837760075843,
-        -3.9728346759699815
+        -0.03540185319249475,
+        1.5140837760766446,
+        -3.9728346761198696
       ]
     ]
   },
@@ -507,16 +507,16 @@ def usgscsm_compare_dict():
     ],
     "Positions": [
       [
-        97397666.49661352,
-        -201380879.84291452,
-        -94392949.82617083
+        99139014.8191443,
+        -200427816.19676697,
+        -94608347.50413091
       ]
     ],
     "Velocities": [
       [
-        21.26085734409839,
-        7.173393107736484,
-        2.739595059792977
+        21.199131882686167,
+        7.334313602125272,
+        2.7913538260189816
       ]
     ]
   }

tests/pytests/test_rotation.py

@@ -61,7 +61,7 @@ def test_time_dependent_time_dependent_composition():
     assert rot1_3.source == 1
     assert rot1_3.dest == 3
     expected_times = [0, 1, 2]
-    expected_quats = [[0, 0, 0, -1], [-1, 0, 0, 0], [0, 0, 0, 1]]
+    expected_quats = [[0, 0, 0, -1], [1, 0, 0, 0], [0, 0, 0, -1]]
     expected_av = [[np.pi, 0, 0], [np.pi, 0, 0], [np.pi, 0, 0]]
     np.testing.assert_equal(rot1_3.times, expected_times)
     np.testing.assert_almost_equal(rot1_3.quats, expected_quats)