def test_m2rotaxis_0(self):
"""Test 0 deg rotation. Axis must be [1, 0, 0] as per Vector documentation."""
v1 = Vector([1.0, 0.8, 0])
v2 = Vector([1.0, 0.8, 0])
rot = rotmat(v1, v2)
angle, axis = m2rotaxis(rot)
self.assertTrue(numpy.allclose(axis.get_array(), [1, 0, 0]))
self.assertTrue(abs(angle) < 1e-5)
def test_m2rotaxis_90(self):
"""Test 90 deg rotation."""
v1 = Vector(0, 0, 1)
v2 = Vector(0, 1, 0)
rot = rotmat(v1, v2)
angle, axis = m2rotaxis(rot)
self.assertTrue(numpy.allclose(axis.get_array(), [-1.0, 0.0, 0.0]))
self.assertTrue(abs(angle - numpy.pi / 2) < 1e-5)
def test_m2rotaxis_180(self):
"""Test 180 deg rotation."""
v1 = Vector([1.0, 0.8, 0])
v2 = Vector([-1.0, -0.8, 0])
rot = rotmat(v1, v2)
angle, axis = m2rotaxis(rot)
self.assertTrue(abs(axis * v1) < 1e-5) # axis orthogonal to v1
self.assertTrue(abs(angle - numpy.pi) < 1e-5)
def test_Vector_angles(self):
"""Test Vector angles."""
angle = random() * numpy.pi
axis = Vector(random(3) - random(3))
axis.normalize()
m = rotaxis(angle, axis)
cangle, caxis = m2rotaxis(m)
self.assertAlmostEqual(angle, cangle, places=3)
self.assertTrue(
numpy.allclose(list(map(int, (axis - caxis).get_array())),
[0, 0, 0]), "Want %r and %r to be almost equal" %
(axis.get_array(), caxis.get_array()))
