def test_isometry_implicit(self, T): Isometry3 = Isometry3_[T] # Explicitly disabled, to mirror C++ API. with self.assertRaises(TypeError): self.assertTrue(mtest.TakeRigidTransform(Isometry3())) with catch_drake_warnings(expected_count=1): self.assertTrue(mtest.TakeIsometry3(mut.RigidTransform()))
def test_rigid_transform(self): def check_equality(X_actual, X_expected_matrix): # TODO(eric.cousineau): Use `IsNearlyEqualTo`. self.assertIsInstance(X_actual, mut.RigidTransform) self.assertTrue( np.allclose(X_actual.GetAsMatrix4(), X_expected_matrix)) # - Constructors. X_I = np.eye(4) check_equality(mut.RigidTransform(), X_I) R_I = mut.RotationMatrix() p_I = np.zeros(3) rpy_I = mut.RollPitchYaw(0, 0, 0) check_equality(mut.RigidTransform(R=R_I, p=p_I), X_I) check_equality(mut.RigidTransform(rpy=rpy_I, p=p_I), X_I) check_equality(mut.RigidTransform(R=R_I), X_I) check_equality(mut.RigidTransform(p=p_I), X_I) # - Accessors, mutators, and general methods. X = mut.RigidTransform() X.set(R=R_I, p=p_I) X.SetFromIsometry3(pose=Isometry3.Identity()) check_equality(mut.RigidTransform.Identity(), X_I) self.assertIsInstance(X.rotation(), mut.RotationMatrix) X.set_rotation(R=R_I) self.assertIsInstance(X.translation(), np.ndarray) X.set_translation(p=np.zeros(3)) self.assertTrue(np.allclose(X.GetAsMatrix4(), X_I)) self.assertTrue(np.allclose(X.GetAsMatrix34(), X_I[:3])) self.assertIsInstance(X.GetAsIsometry3(), Isometry3) check_equality(X.inverse(), X_I) self.assertIsInstance(X.multiply(other=mut.RigidTransform()), mut.RigidTransform) self.assertIsInstance(X.multiply(p_BoQ_B=p_I), np.ndarray)
def test_rigid_transform_deprecated_isometry3_workalikes(self, T): X_AB = mut.RigidTransform() with catch_drake_warnings(expected_count=1): mat = X_AB.matrix() with catch_drake_warnings(expected_count=1): lin = X_AB.linear() self.assertIsInstance(mat, np.ndarray) self.assertIsInstance(lin, np.ndarray) self.assertEqual(mat.shape, (4, 4)) self.assertEqual(lin.shape, (3, 3))
def test_isometry_implicit(self, T): Isometry3 = Isometry3_[T] # Explicitly disabled, to mirror C++ API. with self.assertRaises(TypeError): self.assertTrue(mtest.TakeRigidTransform(Isometry3())) self.assertTrue(mtest.TakeIsometry3(mut.RigidTransform()))
def test_rigid_transform(self): def check_equality(X_actual, X_expected_matrix): # TODO(eric.cousineau): Use `IsNearlyEqualTo`. self.assertIsInstance(X_actual, mut.RigidTransform) self.assertTrue( np.allclose(X_actual.GetAsMatrix4(), X_expected_matrix)) # - Constructors. X_I = np.eye(4) check_equality(mut.RigidTransform(), X_I) check_equality(mut.RigidTransform(other=mut.RigidTransform()), X_I) check_equality(copy.copy(mut.RigidTransform()), X_I) R_I = mut.RotationMatrix() p_I = np.zeros(3) rpy_I = mut.RollPitchYaw(0, 0, 0) quaternion_I = Quaternion.Identity() angle = np.pi * 0 axis = [0, 0, 1] angle_axis = AngleAxis(angle=angle, axis=axis) check_equality(mut.RigidTransform(R=R_I, p=p_I), X_I) check_equality(mut.RigidTransform(rpy=rpy_I, p=p_I), X_I) check_equality(mut.RigidTransform(quaternion=quaternion_I, p=p_I), X_I) check_equality(mut.RigidTransform(theta_lambda=angle_axis, p=p_I), X_I) check_equality(mut.RigidTransform(R=R_I), X_I) check_equality(mut.RigidTransform(p=p_I), X_I) # - Accessors, mutators, and general methods. X = mut.RigidTransform() X.set(R=R_I, p=p_I) X.SetFromIsometry3(pose=Isometry3.Identity()) check_equality(mut.RigidTransform.Identity(), X_I) self.assertIsInstance(X.rotation(), mut.RotationMatrix) X.set_rotation(R=R_I) self.assertIsInstance(X.translation(), np.ndarray) X.set_translation(p=np.zeros(3)) self.assertTrue(np.allclose(X.GetAsMatrix4(), X_I)) self.assertTrue(np.allclose(X.GetAsMatrix34(), X_I[:3])) self.assertIsInstance(X.GetAsIsometry3(), Isometry3) check_equality(X.inverse(), X_I) self.assertIsInstance(X.multiply(other=mut.RigidTransform()), mut.RigidTransform) self.assertIsInstance(X.multiply(p_BoQ_B=p_I), np.ndarray) if six.PY3: self.assertIsInstance(eval("X @ mut.RigidTransform()"), mut.RigidTransform) self.assertIsInstance(eval("X @ [0, 0, 0]"), np.ndarray)