def test_rotate_z(self):
T=Transform()
T.rotate_z(math.pi/2.)
out = T.transform_points([(1,2,3)])
self.assertAlmostEquals(out[0][0], -2.)
self.assertAlmostEquals(out[0][1], 1.)
self.assertAlmostEquals(out[0][2], 3.)
def test_init(self):
T = Transform()
array = [[1.0,0.,0.,0.],
[0.,1.,0.,0.],
[0.,0.,1.,0.],
[0.,0.,0.,1.]]
self.assertEquals(T.to_list(),array)
def test_translate2(self):
T=Transform()
T.translate(1,2,3)
points = [(0,0,0),
(5,6,7),
(2.3,4.5,7.8),
(-2.1,5.3,-6.5)]
out = T.transform_points(points)
ans = [tuple(a+b for a,b in zip(r,(1,2,3))) for r in points]
self.assertEquals(out, ans)
def test_rotate_axis(self):
T = Transform()
T.rotate_axis((1,2,3), (7,-8,9), 1.0)
pt = tuple(a+b for a,b in zip((1,2,3), (7,-8,9)))
out = T.transform_points([pt])[0]
self.assertAlmostEquals(out[0], pt[0])
self.assertAlmostEquals(out[1], pt[1])
self.assertAlmostEquals(out[2], pt[2])
def test_rotate_x(self):
T=Transform()
T.rotate_x(math.pi/2.)
out = T.transform_points([(1,2,3)])
self.assertEquals(out[0], (1., -3., 2.))
def test_translate_point(self):
T=Transform()
T.translate(1,2,3)
out = T.transform_point((0,0,0))
self.assertEquals(out, (1.,2.,3.))
def test_translate(self):
T=Transform()
T.translate(1,2,3)
out = T.to_list()
TT = [r[3] for r in out[:3]]
self.assertEquals(TT, [1.,2.,3.])