def test_trans_dist():
a = m3d.Transform()
b = m3d.Transform()
b.pos.x = 3
b.orient.rotate_zb(1)
b.orient.rotate_yb(1)
assert a.dist(b) > 0.1
assert b.dist(b) == 0
def test_rotation():
t = m3d.Transform()
t.pos.x = 1
t.orient.rotate_yb(1)
res = m3d.Transform(
m3d.Orientation([[0.54030228, 0, 0.84147096], [0., 1, 0.],
[-0.84147096, 0., 0.54030228]]), m3d.Vector(1, 0, 0))
assert _are_equals(res.data, t.data)
def test_inverse_invert():
t = m3d.Transform()
t.orient.rotate_xb(np.pi / 3)
t.pos.x = 1
t1 = t.copy()
t2 = t1.inverse()
n = t1.invert()
assert n == None
assert _are_equals(t1, t2)
assert _are_equals(t * t1, m3d.Transform())
def test_construct():
o = m3d.Orientation()
o.rotate_zb(1)
v = m3d.Vector()
v[0] = 1
v[2] = 2
t = m3d.Transform(o, v)
assert t.pos.x == 1
assert t.pos.z == 2
t.pos = m3d.Vector()
t.orient.rotate_zb(-1)
assert t == m3d.Transform()
t.orient = o
assert t != m3d.Transform()
def test_transform_init():
v = m3d.Vector(1, 2, 3)
o = m3d.Orientation()
o.rotate_zb(1)
t = m3d.Transform(o, v)
assert t.pos == v
assert t.orient == o
t2 = m3d.Transform(o.data, v.data)
assert t2.pos == v
assert t2.orient == o
assert t == t2
with pytest.raises(ValueError):
m3d.Transform(np.array([1, 2, 3]), np.array([1, 2, 3]))
with pytest.raises(ValueError):
m3d.Transform(o.data, np.array([1, 2]))
def test_rotation_seq_2():
t = m3d.Transform()
t.pos.x = 1
t.pos.z = 3
t.orient.rotate_xb(1)
t.orient.rotate_yb(2)
t.orient.rotate_zb(3)
b = m3d.Transform()
b.orient.rotate_zb(-3)
b.orient.rotate_yb(-2)
b.orient.rotate_xb(-1)
b.pos = b.orient * m3d.Vector(1, 0, 3) * -1
assert _are_equals(t.inverse().data, b.data)
def test_inverse_trans():
t = m3d.Transform()
t.pos.x = 1
t.orient.rotate_zb(np.pi / 2)
t.orient.rotate_yb(np.pi / 2)
v = m3d.Vector(2, 0, 0)
assert t * v == m3d.Vector(1, 2, 0)
def test_transform():
t = m3d.Transform()
t.orient.rotate_zb(np.pi / 2)
t.pos.y = 2
v = m3d.Vector(1, 0, 0)
r = t * v
assert r == m3d.Vector(0, 3, 0)
def test_eq():
t = m3d.Transform()
t.orient.rotate_yb(1)
t.orient.rotate_zb(1)
t.pos.x = 1
v = m3d.Vector()
o = m3d.Orientation()
with pytest.raises(ValueError):
assert t != v
with pytest.raises(ValueError):
assert v != t
with pytest.raises(ValueError):
assert o != v
t2 = t.copy()
assert t == t2
assert t.pos == t2.pos
assert t.orient == t2.orient
t2.pos.y = 2
assert t != t2
assert t.pos != t2.pos
assert t.orient == t2.orient
t3 = t.copy()
t3.orient.rotate_xb(1)
assert t2.pos != t3.pos
assert t2.orient != t3.orient
assert t != t3
def test_similar():
t = m3d.Transform()
t.pos.x = 1
t.pos.y = 2
t.pos.z = 3
t.orient.rotate_yb(1)
t2 = t.copy()
t2.orient.rotate_zb(1)
t3 = t.copy()
t3.orient.rotate_zb(1 - 4 * np.pi)
t4 = t3.copy()
t4.pos.x += m3d.float_eps
t5 = t4.copy()
t5.pos.x += 0.1
assert not t.similar(t2)
assert t2.similar(t3)
assert t3.similar(t4)
assert t2.similar(t4)
assert t4.similar(t2)
assert t4.orient.similar(t2.orient)
assert not t.similar(t4)
assert not t.orient.similar(t4.orient)
assert not t4.similar(t)
assert not t4.similar(t5)
assert not t.similar(t5)
assert t4.pos.similar(t5.pos, 0.2)
assert t4.orient.similar(t5.orient, 0.2)
assert t4.similar(t5, 0.2)
def test_rotation_t():
t = m3d.Transform()
t.pos.x = 1
t.orient.rotate_zt(np.pi / 2)
t.orient.rotate_yt(np.pi / 2)
v = m3d.Vector(2, 0, 0)
assert t * v == m3d.Vector(1, 0, -2)
def test_ros():
t = m3d.Transform()
t.orient.rotate_yb(1)
t.orient.rotate_zb(1)
t.pos.x = 1
q, v = t.to_ros()
t1 = t.from_ros(q, v)
assert t == t1
def test_pose_vector():
t = m3d.Transform()
t.pos.x = 1
t.pos.z = 2
t.orient.rotate_yb(1)
v = t.to_pose_vector()
t2 = t.from_pose_vector(*v)
assert t == t2
def test_transform_init_ref():
v = m3d.Vector(1, 2, 3)
o = m3d.Orientation()
o.rotate_zb(1)
t = m3d.Transform(o, v)
assert t.orient == o
o.rotate_xb(1)
assert t.orient != o
def test_equal():
t1 = m3d.Transform()
t1.orient.rotate_xb(np.pi / 2)
t1.pos.x = 1
t2 = m3d.Transform()
t2.orient.rotate_xb(np.pi / 2)
t2.pos.x = 2
tr = m3d.Transform()
tr.orient.rotate_xb(np.pi)
tr.pos.x = 3
assert t1 != t2
assert t1 != tr
assert t1 * t2 == tr
assert t2 * t1 == tr
def test_init():
t = m3d.Transform()
assert t.pos.x == 0
assert t.pos.y == 0
t.pos.x = 2
assert t.pos.x == 2
i = t.inverse()
assert m3d.Vector(-2, 0, 0) == i.pos
assert m3d.Orientation() == i.orient
def test_rotation_seq():
t = m3d.Transform()
t.pos.x = 1
t.pos.z = 3
t.orient.rotate_xb(1)
res = t.copy()
t.orient.rotate_yb(2)
t.orient.rotate_zb(3)
t.orient.rotate_zb(-3)
t.orient.rotate_yb(-2)
assert t == res
def test_update_trans_xyz():
t = m3d.Transform()
t.orient.rotate_yb(1)
t.orient.rotate_zb(1)
t.pos.x = 1
t.pos.x += 1.2
assert _are_equals(t.pos.x, 2.2)
assert _are_equals(t.data[0, 3], 2.2)
t.pos.y += 1.2
assert _are_equals(t.pos.y, 1.2)
assert _are_equals(t.data[1, 3], 1.2)
def test_unit_vectors():
assert m3d.vector.e0 == m3d.Vector(1, 0, 0)
assert m3d.vector.e1 == m3d.Vector(0, 1, 0)
assert m3d.vector.e2 == m3d.Vector(0, 0, 1)
t = m3d.Transform()
assert m3d.vector.ex == t.orient.vec_x
assert m3d.vector.ey == t.orient.vec_y
assert m3d.vector.ez == t.orient.vec_z
t.orient.rotate_zb(1)
assert m3d.vector.ex != t.orient.vec_x
assert m3d.vector.ey != t.orient.vec_y
assert m3d.vector.ez == t.orient.vec_z
def test_copy():
t = m3d.Transform()
t.pos.x = 1
new = t.copy()
t.orient.rotate_zb(1)
new.pos.x = 5
assert t.pos.x != new.pos.x
assert t.orient.data[0, 0] != new.orient.data[0, 0]
v = t.pos.copy()
assert v == t.pos
v[1] = 3.33
assert v.y != t.pos.y
assert v != t.pos
def test_inverse_2():
t = m3d.Transform()
t.pos.x = 1
t.pos.z = 3
t.orient.rotate_yb(1)
t.orient.rotate_zb(1)
v = m3d.Vector(2, 3, 4)
assert v != t * v
assert v == t.inverse() * t * v
assert v == t * t.inverse() * v
assert v != t @ v
assert v == t.inverse() @ t @ v
assert v == t @ t.inverse() @ v
def test_mult_trans():
t1 = m3d.Transform()
t1.orient.rotate_xb(np.pi / 2)
t1.pos.x = 1
t2 = m3d.Transform()
t2.orient.rotate_xb(np.pi / 2)
t2.pos.x = 2
v = m3d.Vector(0, 0, 3)
tr = m3d.Transform()
tr.orient.rotate_xb(np.pi)
tr.pos.x = 3
tm = math3d.Transform()
tm.orient.rotate_xb(np.pi / 2)
tm.pos.x = 2
vm = math3d.Vector(0, 0, 3)
assert t1 * t2 * v == tr * v
assert t1 @ t2 @ v == tr @ v
assert _are_equals((t2 * v).data, (tm * vm)._data)
def test_pose_vector_math3d():
t = m3d.Transform()
t.pos.x = 1
t.pos.z = 2
t.orient.rotate_yb(1)
m = math3d.Transform()
m.orient.rotate_yb(1)
m.pos.x = 1
m.pos.z = 2
assert _are_equals(t.pose_vector, m.pose_vector)
t.orient.rotate_zb(2)
m.orient.rotate_zb(2)
assert _are_equals(t.pose_vector, m.pose_vector)
t.orient.rotate_xb(-2)
m.orient.rotate_xb(-2)
assert _are_equals(t.pose_vector, m.pose_vector)
def test_inverse():
t1 = m3d.Transform()
t1.orient.rotate_xb(np.pi / 3)
t1.pos.x = 1
t2 = m3d.Transform()
t2.orient.rotate_xb(-13 * np.pi / 6)
t2.pos.x = 2.3
v = m3d.Vector(0.1, -4.5, 3.0)
tr = m3d.Transform()
tr.orient.rotate_xb(np.pi)
tr.pos.x = 3
assert (t1 * t1.inverse()) == m3d.Transform(matrix=np.identity(4))
assert (t1 * t1.inverse()) == m3d.Transform()
assert (t2 * t2.inverse()) == m3d.Transform(matrix=np.identity(4))
assert (t2 * t2.inverse()) == m3d.Transform()
assert (t1 * t2 * t1.inverse() * t2.inverse()).similar(
m3d.Transform(matrix=np.identity(4)), CONVERTION_ERROR)
assert t1.inverse() * (t1 * v) == v
def test_pc():
pc = np.array([[1, 2, 3], [1, 2, 3], [2, 3, 4], [3, 4, 5], [3, 4, 5]])
t = m3d.Transform()
t.pos.x = 1.2
t.pos.y = 1
t.orient.rotate_yb(1)
t.orient.rotate_zb(1)
tm = math3d.Transform()
tm.pos.x = 1.2
tm.pos.y = 1
tm.orient.rotate_yb(1)
tm.orient.rotate_zb(1)
assert _are_equals(t.data, tm._data)
a = t * pc
b = tm * pc
assert _are_equals(a[0], b[0])
assert _are_equals(a[-1], b[-1])
assert a.shape == pc.shape
c = t * pc.T
assert c.shape == pc.T.shape
def test_rotation_t_2():
t = m3d.Transform()
t.orient.rotate_yt(-np.pi / 2)
t.orient.rotate_xt(np.pi / 3)
v = m3d.Vector(2, 0, 0)
assert t * v == m3d.Vector(0, 0, 2)
