def test_orientations_from_view_up_show_coordinate_system_change(
views, ups, positions):
"""
Create `Orientations` from view and up vectors in the spherical domain
as well as in the carteesian domain, and visualize both to compare them
manually by eye.
"""
# Carteesian: Visualize to manually validate orientations
views = np.asarray(views)
ups = np.asarray(ups)
views = Coordinates(views[:, 0], views[:, 1], views[:, 2])
ups = Coordinates(ups[:, 0], ups[:, 1], ups[:, 2])
positions = np.asarray(positions)
positions = Coordinates(positions[:, 0], positions[:, 1], positions[:, 2])
orient_from_cart = Orientations.from_view_up(views, ups)
orient_from_cart.show(positions)
# Convert to spherical: And again visualize to manually validate
views.get_sph(convert=True)
ups.get_sph(convert=True)
positions.get_sph(convert=True)
orient_from_sph = Orientations.from_view_up(views, ups)
orient_from_sph.show(positions)
# Check if coordinate system has not been changed by orientations
assert views._system['domain'] == 'sph', (
"Coordinate system has been changed by Orientations.")
assert ups._system['domain'] == 'sph', (
"Coordinate system has been changed by Orientations.")
assert positions._system['domain'] == 'sph', (
"Coordinate system has been changed by Orientations.show().")
def test_orientations_indexing_assignment(orientations):
"""
Assign a new value to a quaternion of an `Orientation`
via the index-operator `[]`.
"""
orientations[0] = Orientations([0, 0, 0, 1])
orientations[0] = Orientations.from_view_up([0, 0, 1], [1, 0, 0])
orientations[0] = [0, 0, 0, 1]
orientations[:] = [[0, 0, 0, 1], [0, 0, 1, 0], [0, 1, 0, 0]]
with raises(ValueError):
orientations[0] = [0, 0, 3]
with raises(ValueError):
orientations[0] = orientations
def test_from_view_as_view_roundtrip():
vec = np.array([
[1, 0, 0],
[-1, 0, 0],
[0, 1, 0],
[0, -1, 0],
[0, 0, 1],
[0, 0, -1]])
for v1 in range(len(vec)):
for v2 in range(len(vec)):
if np.all(np.abs(vec[v1]) == np.abs(vec[v2])):
continue
print(f"Testing combination ({v1}, {v2})")
views = np.atleast_2d(vec[v1])
ups = np.atleast_2d(vec[v2])
orientations = Orientations.from_view_up(views, ups)
views_, ups_, _ = orientations.as_view_up_right()
# indexed
views_0, ups_0, _ = orientations[0].as_view_up_right()
npt.assert_allclose(views, views_, atol=1e-15)
npt.assert_allclose(ups, ups_, atol=1e-15)
# indexed
npt.assert_allclose(views[0], views_0, atol=1e-15)
npt.assert_allclose(ups[0], ups_0, atol=1e-15)
def test_orientations_show(views, ups, positions, orientations):
"""
Visualize orientations via `Orientations.show()`
with and without `positions`.
"""
# default orientation
Orientations().show()
# single vectors no position
view = [1, 0, 0]
up = [0, 1, 0]
orientation_single = Orientations.from_view_up(view, up)
orientation_single.show()
# with position
position = Coordinates(0, 1, 0)
orientation_single.show(position)
# multiple vectors no position
orientations.show()
# with matching number of positions
orientations.show(positions)
# select what to show
orientations.show(show_views=False)
orientations.show(show_ups=False)
orientations.show(show_rights=False)
orientations.show(show_views=False, show_ups=False)
orientations.show(show_views=False, show_rights=False)
orientations.show(show_ups=False, show_rights=False)
orientations.show(positions=positions, show_views=False, show_ups=False)
# with positions provided as Coordinates
positions = np.asarray(positions)
positions = Coordinates(positions[:, 0], positions[:, 1], positions[:, 2])
orientations.show(positions)
# with non-matching positions
positions = Coordinates(0, 1, 0)
with raises(ValueError):
orientations.show(positions)
def test_orientations_rotation(views, ups, positions, orientations):
"""Multiply an Orientation with a Rotation and visualize them."""
orientations.show(positions)
# Rotate first Orientation around z-axis by 45°
rot_z45 = Rotation.from_euler('z', 45, degrees=True)
orientations[0] = orientations[0] * rot_z45
orientations.show(positions)
# Rotate second Orientation around x-axis by 45°
rot_x45 = Rotation.from_euler('x', 45, degrees=True)
orientations[1] = orientations[1] * rot_x45
orientations.show(positions)
# Rotate both Orientations at once
orientations = Orientations.from_view_up(views, ups)
orientations = orientations * rot_x45
orientations.show(positions)
def test_orientations_from_view_up_invalid():
"""Try to create `Orientations` from invalid view and up vectors."""
# mal-formed lists
views = [[1, 0, 0], [0, 0]]
ups = [[0, 1, 0], [0, 0, 0]]
with raises(ValueError):
Orientations.from_view_up(views, ups)
# any of views and ups has zero-length
views = [[1, 0, 0], [0, 0, 1]]
ups = [[0, 1, 0], [0, 0, 0]]
with raises(ValueError):
Orientations.from_view_up(views, ups)
# views' and ups' shape must be (N, 3) or (3,)
views = [0, 1]
ups = [0, 1]
with raises(ValueError):
Orientations.from_view_up(views, ups)
# view and up vectors must be orthogonal
views = [1.0, 0.5, 0.1]
ups = [0, 0, 1]
with raises(ValueError):
Orientations.from_view_up(views, ups)
def orientations(views, ups):
""" Orientations object uses fixtures `views` and `ups`.
"""
return Orientations.from_view_up(views, ups)
def test___eq___notEqual(orientations, views, ups):
rot_z45 = Rotation.from_euler('z', 45, degrees=True)
actual = Orientations.from_view_up(views, ups) * rot_z45
assert not orientations == actual
def test___eq___equal(orientations, views, ups):
actual = Orientations.from_view_up(views, ups)
assert orientations == actual
def test_orientations_from_view_up():
"""Create `Orientations` from view and up vectors."""
# test with single view and up vectors
view = [1, 0, 0]
up = [0, 1, 0]
Orientations.from_view_up(view, up)
# test with multiple view and up vectors
views = [[1, 0, 0], [0, 0, 1]]
ups = [[0, 1, 0], [0, 1, 0]]
Orientations.from_view_up(views, ups)
# provided as numpy ndarrays
views = np.atleast_2d(views).astype(np.float64)
ups = np.atleast_2d(ups).astype(np.float64)
Orientations.from_view_up(views, ups)
# provided as Coordinates
views = Coordinates(views[:, 0], views[:, 1], views[:, 2])
ups = Coordinates(ups[:, 0], ups[:, 1], ups[:, 2])
Orientations.from_view_up(views, ups)
# number of views to ups N:1
views = [[1, 0, 0], [0, 0, 1]]
ups = [[0, 1, 0]]
Orientations.from_view_up(views, ups)
# number of views to ups 1:N
views = [[1, 0, 0]]
ups = [[0, 1, 0], [0, 1, 0]]
Orientations.from_view_up(views, ups)
# number of views to ups M:N
with raises(ValueError):
views = [[1, 0, 0], [0, 0, 1], [0, 0, 1]]
ups = [[0, 1, 0], [0, 1, 0]]
Orientations.from_view_up(views, ups)
def test_orientations_init():
"""Init `Orientations` without optional parameters."""
orient = Orientations()
assert isinstance(orient, Orientations)