def checkArmBaseArmReciprocity(alpha, delta_orig, gamma_orig):
(deltaA, gammaA) = (delta_orig, gamma_orig)
(deltaB, gammaB) = gammaOnArmToBase(deltaA, gammaA, alpha)
(deltaA, gammaA) = gammaOnBaseToArm(deltaB, gammaB, alpha)
if ((not radeq(deltaA, delta_orig, TOLERANCE))
or (not radeq(gammaA, gamma_orig, TOLERANCE))):
s = "\nArm-Base-Arm reciprocity\n"
s += "alpha=%f\n" % (alpha * TODEG, )
s += (" (deltaA, gammaA) = (%f, %f)\n" %
(delta_orig * TODEG, gamma_orig * TODEG))
s += (" ->(deltaB, gammaB) = (%f, %f)\n" %
(deltaB * TODEG, gammaB * TODEG))
s += (" ->(deltaA, gammaA) = (%f, %f)\n" %
(deltaA * TODEG, gammaA * TODEG))
raise AssertionError(s)
def checkArmBaseArmReciprocity(alpha, delta_orig, gamma_orig):
(deltaA, gammaA) = (delta_orig, gamma_orig)
(deltaB, gammaB) = gammaOnArmToBase(deltaA, gammaA, alpha)
(deltaA, gammaA) = gammaOnBaseToArm(deltaB, gammaB, alpha)
if ((not radeq(deltaA, delta_orig, TOLERANCE)) or
(not radeq(gammaA, gamma_orig, TOLERANCE))):
s = "\nArm-Base-Arm reciprocity\n"
s += "alpha=%f\n" % (alpha * TODEG,)
s += (" (deltaA, gammaA) = (%f, %f)\n" %
(delta_orig * TODEG, gamma_orig * TODEG))
s += (" ->(deltaB, gammaB) = (%f, %f)\n" %
(deltaB * TODEG, gammaB * TODEG))
s += (" ->(deltaA, gammaA) = (%f, %f)\n" %
(deltaA * TODEG, gammaA * TODEG))
raise AssertionError(s)
def checkGammaOnArmToBase(alpha, deltaA, gammaA):
deltaB, gammaB = gammaOnArmToBase(deltaA, gammaA, alpha)
labA = armAnglesToLabVector(alpha, deltaA, gammaA)
labB = baseAnglesToLabVector(deltaB, gammaB)
if not nearlyEqual(labA, labB, TOLERANCE):
strLabA = ("[%f, %f, %f]" %
(labA.get(0, 0), labA.get(1, 0), labA.get(2, 0)))
strLabB = ("[%f, %f, %f]" %
(labB.get(0, 0), labB.get(1, 0), labB.get(2, 0)))
rep = ("alpha=%f, delta=%f, gamma=%f" %
(alpha * TODEG, deltaB * TODEG, gammaB * TODEG))
raise AssertionError('\nArm-->Base ' + rep + '\n' +
"arm (delta, gamma) = (%f,%f) <==>\t labA = %s\n" %
(deltaA * TODEG, gammaA * TODEG, strLabA) +
"base(delta, gamma) = (%f,%f) <==>\t labB = %s\n" %
(deltaB * TODEG, gammaB * TODEG, strLabB))
def checkGammaOnArmToBase(alpha, deltaA, gammaA):
deltaB, gammaB = gammaOnArmToBase(deltaA, gammaA, alpha)
labA = armAnglesToLabVector(alpha, deltaA, gammaA)
labB = baseAnglesToLabVector(deltaB, gammaB)
if not nearlyEqual(labA, labB, TOLERANCE):
strLabA = ("[%f, %f, %f]" %
(labA.get(0, 0), labA.get(1, 0), labA.get(2, 0)))
strLabB = ("[%f, %f, %f]" %
(labB.get(0, 0), labB.get(1, 0), labB.get(2, 0)))
rep = ("alpha=%f, delta=%f, gamma=%f" %
(alpha * TODEG, deltaB * TODEG, gammaB * TODEG))
raise AssertionError(
'\nArm-->Base ' + rep + '\n' +
"arm (delta, gamma) = (%f,%f) <==>\t labA = %s\n" %
(deltaA * TODEG, gammaA * TODEG, strLabA) +
"base(delta, gamma) = (%f,%f) <==>\t labB = %s\n" %
(deltaB * TODEG, gammaB * TODEG, strLabB))
