def test_Rz30(self):
""" right handed, 30 degrees around z """
o = gv_general.rotation_axis([0, 0, 1], 30)
c30 = math.sqrt(3) / 2. # cos(30)
s30 = 0.5 # sin(30)
r = np.transpose(np.array([[c30, s30, 0], [-s30, c30, 0], [0, 0, 1]]))
e = array_diff(o.to_matrix(), r)
self.assertAlmostEqual(e, 0.0, 6)
def test_rotate_vectors1(self):
""" rotate a single vector """
o = gv_general.rotation_axis([0, 0, 1], 180)
vecs = np.transpose(np.array([[1, 1, 0]]))
res = np.transpose(np.array([[-1, -1, 0]]))
self.assertAlmostEqual(array_diff(o.rotate_vectors(vecs), res), 0, 6)
self.assertAlmostEqual(array_diff(o.rotate_vectors(vecs, [180]), res),
0, 6)
r1 = o.rotate_vectors(vecs, [181])
self.assertNotAlmostEqual(array_diff(r1, res), 0, 6)
def test_rotate_vectors_a(self):
"""rotate again 3x3, with different angles"""
o = gv_general.rotation_axis([0, 0, 1], 90)
vecs = np.transpose(np.array([[0, 0, 1], [0, 1, 0], [1, 0, 0]]))
res = np.transpose(np.array([[0, 0, 1], [-1, 0, 0], [0, 1, 0]]))
self.assertAlmostEqual(array_diff(o.rotate_vectors(vecs), res), 0, 6)
r2 = o.rotate_vectors(vecs, [90, 90, 90])
#print "\n",np.array_str(r2, suppress_small=1)
#print res
self.assertAlmostEqual(array_diff(r2, res), 0, 6)
self.assertNotAlmostEqual(
array_diff(o.rotate_vectors(vecs, [90, 91, 90]), res), 0, 6)
def test_rotate_vectors(self):
"""rotate 3x3 vectors, angs or not"""
o = gv_general.rotation_axis([0, 0, 1], 90.0)
vecs = np.transpose(
np.array([[0, 0, 1], [0, 1, 0], [1, 0, 0], [1, 0, 0]], np.float))
res = np.transpose(
np.array([[0, 0, 1], [-1, 0, 0], [0, 1, 0], [0, 1, 0]], np.float))
m1, m2 = o.rotate_vectors(vecs), res
self.assertEqual(m1.shape, m2.shape)
err = "\n\n" + str(m1.astype(np.int)) + " != \n\n" + str(m2)
self.assertAlmostEqual(array_diff(m1, m2), 0, 6, err)
angs = np.array([90.] * 4, np.float)
m3, m4 = o.rotate_vectors(vecs, angs), res
err = "\n\n" + str(m3.astype(np.int)) + " != \n\n" + str(m4)
self.assertAlmostEqual(array_diff(m3, m4), 0, 6, err)
def test_rotate_vectors2(self):
""" rotate more vectors """
o = gv_general.rotation_axis([0, 0, 1], 180)
vecs = np.transpose(
np.array(
[
[0, 0, 1], #1
[0, 1, 0], #2
[0, 1, 1], #3
[1, 1, 0], #4
[-1, 1, 0], #5
[1, 0, 0], #6
[0, 1, 1]
],
np.float))
res = np.transpose(
np.array(
[
[0, 0, 1], #1
[0, -1, 0], #2
[0, -1, 1], #3
[-1, -1, 0], #4
[1, -1, 0], #5
[-1, 0, 0], #6
[0, -1, 1]
],
np.float))
r1 = o.rotate_vectors(vecs)
#print np.array_str(r1,precision=1,suppress_small=1)
#print res
#print np.array_str(r1-res,precision=1,suppress_small=0)
self.assertAlmostEqual(array_diff(r1, res), 0, 6)
self.assertAlmostEqual(
array_diff(
o.rotate_vectors(
vecs,
#1 2 3 4 5 6 7
[180, 180, 180, 180, 180, 180, 180]),
res),
0,
5)
def testaxisang():
v = np.array([11.,12.,13.],np.float)
cv = v.copy()
axis = np.array([np.sqrt(1./3),-np.sqrt(1./3),np.sqrt(1./3)],np.float)
for i in range(len(omega)):
a = gv_general.rotation_axis(axis, angle=omega[i])
rv = a.rotate_vectors( v )
wripaca.rotate_vector_axis_angle(
axis,
omega[i]*np.pi/180,
v,
cv)
co=np.cos(omega[i]*np.pi/180)
so=np.sin(omega[i]*np.pi/180)
M = np.array([[co,so,0],[-so,co,0],[0,0,1]])
sv= np.dot(M,v)
if 0:
print "Omega =",omega[i]
print "py ",rv
print "simple",sv
print "affine",cv
assert ((cv-rv)**2).sum()<1e-10,"badness in axis angle"
print "AxisAngleOK"
def test_Rz0(self):
""" zero rotation around z give identity"""
o = gv_general.rotation_axis([0, 0, 1], 0)
self.assertAlmostEqual(
array_diff(o.to_matrix(), np.identity(3, np.float)), 0.0, 6)
