def test_Utils_Vector_OrthoBasis_GoodDefinedRefVec(self):
import numpy as np
from opan.utils.vector import ortho_basis as ob
from opan.utils.vector import vec_angle as ang
from opan.utils.vector import rej
nv = [2.5, 31.15, -25.1884]
rv = [-12.15, 0.0034, 35.18]
on1, on2 = ob(nv, rv)
self.assertAlmostEqual(
np.dot(nv, on1),
0.0,
delta=1e-10,
msg="Normal vector not normal to first basis vector")
self.assertAlmostEqual(
np.dot(nv, on2),
0.0,
delta=1e-10,
msg="Normal vector not normal to second basis vector")
self.assertAlmostEqual(np.dot(on1, on2),
0.0,
delta=1e-10,
msg="Basis vectors not normal")
self.assertAlmostEqual(np.sum(np.power(on1, 2.)),
1.0,
delta=1e-10,
msg="First basis vector not normalized")
self.assertAlmostEqual(np.sum(np.power(on2, 2.)),
1.0,
delta=1e-10,
msg="Second basis vector not normalized")
self.assertAlmostEqual(ang(nv, np.cross(on1, on2)),
0.0,
delta=1e-5,
msg="Incorrect handedness of basis vectors")
self.assertAlmostEqual(
ang(rej(rv, nv), on1),
0.0,
delta=1e-5,
msg="First basis vector not aligned with reference")
def test_Utils_Vector_OrthoBasis_GoodRandomRefVec(self):
import numpy as np
from opan.utils.vector import ortho_basis as ob
from opan.utils.vector import vec_angle as ang
nv = [8.5, -3.15, -2.1884]
on1, on2 = ob(nv)
self.assertAlmostEqual(np.dot(nv, on1), 0.0,
delta=1e-10,
msg="Normal vector not normal to first basis vector")
self.assertAlmostEqual(np.dot(nv, on2), 0.0,
delta=1e-10,
msg="Normal vector not normal to second basis vector")
self.assertAlmostEqual(np.dot(on1, on2), 0.0,
delta=1e-10,
msg="Basis vectors not normal")
self.assertAlmostEqual(np.sum(np.power(on1, 2.)), 1.0,
delta=1e-10,
msg="First basis vector not normalized")
self.assertAlmostEqual(np.sum(np.power(on2, 2.)), 1.0,
delta=1e-10,
msg="Second basis vector not normalized")
self.assertAlmostEqual(ang(nv, np.cross(on1, on2)), 0.0,
delta=1e-5,
msg="Incorrect handedness of basis vectors")
def test_Utils_Vector_OrthoBasis_GoodDefinedRefVec(self):
import numpy as np
from opan.utils.vector import ortho_basis as ob
from opan.utils.vector import vec_angle as ang
from opan.utils.vector import rej
nv = [2.5, 31.15, -25.1884]
rv = [-12.15, 0.0034, 35.18]
on1, on2 = ob(nv, rv)
self.assertAlmostEqual(np.dot(nv, on1), 0.0,
delta=1e-10,
msg="Normal vector not normal to first basis vector")
self.assertAlmostEqual(np.dot(nv, on2), 0.0,
delta=1e-10,
msg="Normal vector not normal to second basis vector")
self.assertAlmostEqual(np.dot(on1, on2), 0.0,
delta=1e-10,
msg="Basis vectors not normal")
self.assertAlmostEqual(np.sum(np.power(on1, 2.)), 1.0,
delta=1e-10,
msg="First basis vector not normalized")
self.assertAlmostEqual(np.sum(np.power(on2, 2.)), 1.0,
delta=1e-10,
msg="Second basis vector not normalized")
self.assertAlmostEqual(ang(nv, np.cross(on1, on2)), 0.0,
delta=1e-5,
msg="Incorrect handedness of basis vectors")
self.assertAlmostEqual(ang(rej(rv, nv), on1), 0.0,
delta=1e-5,
msg="First basis vector not aligned with reference")
def test_Utils_Vector_OrthoBasis_GoodRandomRefVec(self):
import numpy as np
from opan.utils.vector import ortho_basis as ob
from opan.utils.vector import vec_angle as ang
nv = [8.5, -3.15, -2.1884]
on1, on2 = ob(nv)
self.assertAlmostEqual(
np.dot(nv, on1),
0.0,
delta=1e-10,
msg="Normal vector not normal to first basis vector")
self.assertAlmostEqual(
np.dot(nv, on2),
0.0,
delta=1e-10,
msg="Normal vector not normal to second basis vector")
self.assertAlmostEqual(np.dot(on1, on2),
0.0,
delta=1e-10,
msg="Basis vectors not normal")
self.assertAlmostEqual(np.sum(np.power(on1, 2.)),
1.0,
delta=1e-10,
msg="First basis vector not normalized")
self.assertAlmostEqual(np.sum(np.power(on2, 2.)),
1.0,
delta=1e-10,
msg="Second basis vector not normalized")
self.assertAlmostEqual(ang(nv, np.cross(on1, on2)),
0.0,
delta=1e-5,
msg="Incorrect handedness of basis vectors")
