Beispiel #1
0
 def getangax2(self):
     #Axis:
     #Get the eigenvector for the eigenvalue == 1:
     nullspace, matrref, minv, ones, zeros = multidim.nullspace(self.matrix - multidim.identity(3), tolerance=0.00000000001)
     axis = matrix2vector3D(nullspace)
     axis.normalizethis()
     if (axis - vector3d.xbasev()).norm() > 0.1:
         v = vector3d.xbasev()
     elif (axis - vector3d.ybasev()).norm() > 0.1:
         v = vector3d.ybasev()
     elif (axis - vector3d.zbasev()).norm() > 0.1:
         v = vector3d.zbasev()
     else:
         raise RuntimeError('Rotation3D.getangax: Bad internal matrix!!')
     v = vector3d.orthonormal(axis,v)            # Make v orthonormal against axis
     vrot = self.rotvec(v)
     angle = vector3d.anglebetween(v, vrot)
     axis1 = vector3d.crossproduct(v, vrot)
     if vector3d.dotproduct(axis, axis1) < 0:
         axis = -axis
     return angle, axis
Beispiel #2
0
 def testrot(self):
     tol = 0.0000000000001
     v1 = vector3d.Vector3D(*self.matrix.getcol(0))
     v2 = vector3d.Vector3D(*self.matrix.getcol(1))
     v3 = vector3d.Vector3D(*self.matrix.getcol(2))
     n1 = vector3d.norm(v1) - 1
     n2 = vector3d.norm(v2) - 1
     n3 = vector3d.norm(v3) - 1
     nmax = max([abs(n1), abs(n2), abs(n3)])
     a1 = vector3d.anglebetween(v1, v2) - math.pi/2
     a2 = vector3d.anglebetween(v1, v3) - math.pi/2
     a3 = vector3d.anglebetween(v2, v3) - math.pi/2
     amax = max([abs(a1), abs(a2), abs(a3)])
     cr = (vector3d.crossproduct(v1, v2) - v3).norm()
     if nmax > tol or amax > tol or cr > tol:
         matstr = str(self.matrix) + '\n'
         matstr += 'Norms: ' + str(vector3d.norm(v1)) + '  ' + \
                   str(vector3d.norm(v2)) + '  ' + \
                   str(vector3d.norm(v3)) + '  ' + '\n'
         matstr += 'Angles (deg): ' + str(vector3d.anglebetween(v1, v2) *180/math.pi) + '  ' + \
                   str(vector3d.anglebetween(v1, v3) *180/math.pi) + '  ' + \
                   str(vector3d.anglebetween(v2, v3) *180/math.pi) + '\n'
         matstr += str(vector3d.crossproduct(v1, v2)) + '  == ' + str(v3) + '?'
         raise RuntimeError('Rotation matrix out of tolerance:\n' + matstr)