def setUp(self):
ball = mnt.OblateEllipsoidFrame(1, 1)
ball.name = 'ball'
local = mnt.CartesianCoordinateFrame()
local.name = 'local'
ball.add_child(local)
self.universe = mnt.CoordinateUniverse('uni', ball)
self.tr1 = self.universe.get_transformation('local', 'ball')
def load_mounttree(filename):
with open(filename) as f:
tree = yaml.load(f, Loader=yaml.SafeLoader)
name = tree['description']['name']
tree = tree['mounttree']
root_frame = create_from_yaml(tree)
sensors = find_sensors_in_tree(tree)
universe = mnt.CoordinateUniverse(name, root_frame, sensors=sensors)
return universe
def test_forward_shift(self):
a = mnt.CartesianCoordinateFrame()
b = mnt.CartesianCoordinateFrame()
a.name = 'a'
b.name = 'b'
b.pos = [1, 2, 0]
a.add_child(b)
universe = mnt.CoordinateUniverse('uni', a)
transform = universe.get_transformation('b', 'a')
npt.assert_almost_equal(transform.apply_point(1, 0, 0), [2, 2, 0])
def test_backward_rotation(self):
halo = mnt.CartesianCoordinateFrame()
halo.name = 'HALO'
vnir = mnt.CartesianCoordinateFrame()
vnir.name = 'VNIR'
vnir.rotation = mnt.Rotation.fromAngle(np.pi / 2, 'z')
halo.add_child(vnir)
universe = mnt.CoordinateUniverse('universe', halo)
transform = universe.get_transformation('HALO', 'VNIR')
npt.assert_almost_equal(transform.apply_direction(0, 1, 0), [1, 0, 0])
def test_find_path_to_frame(self):
halo = mnt.CartesianCoordinateFrame()
halo.name = 'HALO'
vnir = mnt.CartesianCoordinateFrame()
vnir.name = 'VNIR'
halo.add_child(vnir)
universe = mnt.CoordinateUniverse('universe', halo)
path = universe.find_path_to_frame('VNIR')
self.assertIs(vnir, path[0])
self.assertEqual(len(path), 1)
def test_get_origin_of_subframes(self):
earth = mnt.coordinate_lib['WGS-84']()
earth.name = 'earth'
local = mnt.CartesianCoordinateFrame()
local.name = 'local'
local.pos = [45, 45, 0]
earth.add_child(local)
universe = mnt.CoordinateUniverse('uni', earth)
transform = universe.get_transformation('local', 'earth')
res = transform.apply_point(0, 0, 0)
npt.assert_almost_equal(
res,
universe.get_frame('earth').toCartesian([45, 45, 0]))
def test_double_transform(self):
halo = mnt.CartesianCoordinateFrame()
halo.name = 'HALO'
intermediate = mnt.CartesianCoordinateFrame()
intermediate.name = 'INTER'
intermediate.rotation = mnt.Rotation.fromAngle(np.pi / 2, 'z')
swir = mnt.CartesianCoordinateFrame()
swir.name = 'SWIR'
swir.rotation = mnt.Rotation.fromAngle(np.pi / 2, 'z')
intermediate.add_child(swir)
halo.add_child(intermediate)
universe = mnt.CoordinateUniverse('uni', halo)
transform = universe.get_transformation('HALO', 'SWIR')
npt.assert_almost_equal(transform.apply_direction(0, 1, 0), [0, -1, 0])
def test_direction(self):
ned2enu = (mnt.Rotation.fromAngle(np.pi / 2, 'z') *
mnt.Rotation.fromAngle(np.pi, 'x'))
earth = mnt.coordinate_lib['WGS-84']()
earth.name = 'earth'
local = mnt.CartesianCoordinateFrame()
local.name = 'local'
local.pos = [45, 45, 0]
local.rotation = ned2enu
earth.add_child(local)
check_result = [-0.5, -0.5, np.sqrt(0.5)]
universe = mnt.CoordinateUniverse('uni', earth)
transform = universe.get_transformation('local', 'earth')
npt.assert_almost_equal(transform.apply_direction(0, 1, 0),
check_result)
def test_find_path_to_frame_deep(self):
halo = mnt.CartesianCoordinateFrame()
halo.name = 'HALO'
vnir = mnt.CartesianCoordinateFrame()
vnir.name = 'VNIR'
swir = mnt.CartesianCoordinateFrame()
swir.name = 'SWIR'
containment = mnt.CartesianCoordinateFrame()
containment.name = 'CONTAINMENT'
containment.add_child(vnir)
containment.add_child(swir)
halo.add_child(containment)
universe = mnt.CoordinateUniverse('universe', halo)
path = universe.find_path_to_frame('SWIR')
path2 = universe.find_path_to_frame('VNIR')
self.assertIs(swir, path[1])
self.assertIs(vnir, path2[1])
self.assertIs(containment, path[0])
self.assertEqual(len(path), 2)
def setUp(self):
earth = mnt.coordinate_lib['WGS-84']()
earth.name = 'earth'
stabilized = mnt.CartesianCoordinateFrame()
stabilized.name = 'stabilized'
self.lat = 10.
self.lon = 15.
self.height = 7000.
self.roll = np.pi / 6.
self.pitch = 0 # np.pi/9.
self.yaw = -np.pi
stabilized.pos = [self.lat, self.lon, self.height]
stabilized.euler = [0, 0, mnt.rad2deg(self.yaw)]
halo = mnt.CartesianCoordinateFrame()
halo.name = 'HALO'
halo.euler = [mnt.rad2deg(self.roll), mnt.rad2deg(self.pitch), 0]
stabilized.add_child(halo)
earth.add_child(stabilized)
self.universe = mnt.CoordinateUniverse('uni', earth)
def test_position_transform_nested_on_north_pole(self):
ball = mnt.OblateEllipsoidFrame(1, 1)
ball.name = 'ball'
intermediate = mnt.CartesianCoordinateFrame()
intermediate.name = 'intermediate'
local = mnt.CartesianCoordinateFrame()
local.name = 'local'
local.pos = [1, 0, 1]
intermediate.add_child(local)
ball.add_child(intermediate)
universe = mnt.CoordinateUniverse('uni', ball)
tr1 = universe.get_transformation('local', 'ball')
res1 = tr1.apply_point(0., 0., 0.)
npt.assert_almost_equal(res1, [0, 0, 1])
res2 = tr1.apply_point(1., 0., 0.)
npt.assert_almost_equal(res2, [0, 0, 2])
res3 = tr1.apply_point(0., 1., 0.)
npt.assert_almost_equal(res3, [0, 1, 1])
res4 = tr1.apply_point(-1, 0, 0)
npt.assert_almost_equal(np.linalg.norm(res4), 1e-9)
