def from_tree(cls, tree, ctx):
"""
Converts basic types representing YAML trees into custom types.
Parameters
----------
tree :
An instance of a basic Python type (possibly nested) that
corresponds to a YAML subtree.
ctx :
An instance of the 'AsdfFile' object that is being constructed.
Returns
-------
Dimension :
An instance of the 'Dimension' type.
"""
if "quaternions" in tree:
return WXRotation.from_quat(tree["quaternions"])
elif "matrix" in tree:
return WXRotation.from_matrix(tree["matrix"])
elif "rotvec" in tree:
return WXRotation.from_rotvec(tree["rotvec"])
elif "angles" in tree:
if "degree" in str(tree["angles"].units):
angles = tree["angles"].to("degree").magnitude
degrees = True
else:
angles = tree["angles"].to("rad").magnitude
degrees = False
return WXRotation.from_euler(seq=tree["sequence"],
angles=angles,
degrees=degrees)
from weldx.tests._helpers import get_test_name
from weldx.transformations import WXRotation
# WXRotation ---------------------------------------------------------------------
_base_rotation = Rotation.from_euler(seq="xyz",
angles=[[10, 20, 60], [25, 50, 175]],
degrees=True)
@pytest.mark.parametrize(
"inputs",
[
_base_rotation,
WXRotation.from_quat(_base_rotation.as_quat()),
WXRotation.from_matrix(_base_rotation.as_matrix()),
WXRotation.from_rotvec(_base_rotation.as_rotvec()),
WXRotation.from_euler(seq="xyz", angles=[10, 20, 60], degrees=True),
WXRotation.from_euler(
seq="xyz", angles=[0.2, 1.3, 3.14], degrees=False),
WXRotation.from_euler(seq="xyz", angles=Q_([10, 20, 60], "degree")),
WXRotation.from_euler(seq="xyz", angles=Q_([0.2, 1.3, 3.14], "rad")),
WXRotation.from_euler(seq="xyz", angles=Q_([0.2, 1.3, 3.14], "")),
WXRotation.from_euler(seq="XYZ", angles=[10, 20, 60], degrees=True),
WXRotation.from_euler(seq="y", angles=[10, 60, 40, 90], degrees=True),
WXRotation.from_euler(seq="Z", angles=[10, 60, 40, 90], degrees=True),
WXRotation.from_euler(seq="xy",
angles=[[10, 10], [60, 60], [40, 40], [70, 75]],
degrees=True),
WXRotation.from_euler(
seq="xy",
angles=Q_([[10, 10], [60, 60], [40, 40], [70, 75]], "degree")),