def test_applyAngList04(self): """applyAngList -- one-at-time equals all-at-once""" ko1 = Kinematics(self.known_points, self.torTree, tolist=0) ko2 = Kinematics(self.known_points, self.torTree, tolist=0) result1 = ko1.applyAngList([90.,-90.,0.], self.idmtx)[:,:3] # do the rotations separately ko2.applyAngList([90.,0.,0.]) result2 = ko2.applyAngList([0.,-90.,0.], self.idmtx)[:,:3] self.assertArrayEqual(result1, result2)
def test_applyAngList04(self): """applyAngList -- one-at-time equals all-at-once""" ko1 = Kinematics(self.known_points, self.torTree, tolist=0) ko2 = Kinematics(self.known_points, self.torTree, tolist=0) result1 = ko1.applyAngList([90., -90., 0.], self.idmtx)[:, :3] # do the rotations separately ko2.applyAngList([90., 0., 0.]) result2 = ko2.applyAngList([0., -90., 0.], self.idmtx)[:, :3] self.assertArrayEqual(result1, result2)
def test_applyAngList022(self): """applyAngList -- return correct coords ( 0,-90, 0)""" ko = Kinematics(self.known_points, self.torTree, tolist=0) result = ko.applyAngList([0., -90., 0.], self.idmtx)[:, :3] self.known_points[0] = [1., 1., 1.] self.known_points[2] = [1., 0., 0.] self.assertArrayEqual(self.known_points, result)
def test_applyAngList022(self): """applyAngList -- return correct coords ( 0,-90, 0)""" ko = Kinematics(self.known_points, self.torTree, tolist=0) result = ko.applyAngList([0.,-90.,0.], self.idmtx)[:,:3] self.known_points[0] = [1., 1., 1.] self.known_points[2] = [1., 0., 0.] self.assertArrayEqual(self.known_points, result)
def test_applyAngList021(self): """applyAngList -- return correct coords (90, 0, 0)""" ko = Kinematics(self.known_points, self.torTree, tolist=0) result = ko.applyAngList([90.0, 0.0, 0.0], self.idmtx)[:, :3] self.known_points[0] = [0.0, 1.0, 2.0] self.known_points[1] = [0.0, 1.0, 1.0] self.known_points[2] = [-1.0, 1.0, 1.0] self.assertArrayEqual(self.known_points, result)
def test_applyAngList01(self): """applyAngList -- return correct coords (360., 360., 360.)""" ko = Kinematics(self.known_points, self.torTree, tolist=0) result = ko.applyAngList([360., 360., 360.], self.idmtx)[:, :3] self.assertArrayEqual(self.known_points, result)
def test_applyAngList00(self): """applyAngList -- return correct coords (0., 0., 0.)""" ko = Kinematics(self.known_points, self.torTree, tolist=1) self.assertEqual(self.known_points, ko.applyAngList([0, 0, 0], self.idmtx))
def test_applyAngList01(self): """applyAngList -- return correct coords (360., 360., 360.)""" ko = Kinematics(self.known_points, self.torTree, tolist=0) result = ko.applyAngList([360.,360.,360.], self.idmtx)[:,:3] self.assertArrayEqual(self.known_points, result)
def test_applyAngList00(self): """applyAngList -- return correct coords (0., 0., 0.)""" ko = Kinematics(self.known_points, self.torTree, tolist=1) self.assertEqual(self.known_points, ko.applyAngList([0,0,0], self.idmtx))