def test_matrix_exp(self):
try:
from scipy import linalg
e = linalg.expm
n = np.random.randint(1, 10)
mat = np.random.rand(n, n)
assert np.allclose(e(mat), matrix_exp(mat))
except ImportError:
raise unittest.SkipTest()
def test_matrix_exp(self):
try:
from scipy import linalg
e = linalg.expm
n = 3
mat = np.array([[5.59, -6.5, 0.73], [4.12, 6.4, -5.3],
[0.95, 3.54, -9.3]])
assert np.allclose(e(mat), G.matrix_exp(mat))
except ImportError:
raise unittest.SkipTest('Scipy is not installed')
def test_rotate(self):
n = 15
x = np.linspace(1.5, 10.0, n)
y = np.linspace(5.0, 15.0, n)
z = x * y / 10.0
angle = 154.0
theta = np.pi * angle / 180.0
axis = np.array([1.0, np.sqrt(2.0), np.sqrt(3.0)])
x_new, y_new, z_new = G.rotate(x, y, z, axis, angle)
unit_vector = axis / np.linalg.norm(axis)
mat = np.cross(np.eye(3), unit_vector * theta)
rotation_matrix = G.matrix_exp(np.array(mat))
test_points = []
for xi, yi, zi in zip(x, y, z):
point = np.array([xi, yi, zi])
new = np.asarray(np.dot(rotation_matrix, point))
test_points.append(new)
test_points = np.asarray(test_points)
x_test = test_points[:, 0]
y_test = test_points[:, 1]
z_test = test_points[:, 2]
assert np.allclose(x_new, x_test)
assert np.allclose(y_new, y_test)
assert np.allclose(z_new, z_test)
def test_rotate(self):
n = np.random.randint(1, 25)
x = np.random.random_sample(n)
y = np.random.random_sample(n)
z = np.random.random_sample(n)
angle = np.random.uniform(0.0, 360.0)
theta = np.pi * angle / 180.0
axis = np.random.random_sample(3)
x_new, y_new, z_new = rotate(x, y, z, axis, angle)
unit_vector = axis / np.linalg.norm(axis)
mat = np.cross(np.eye(3), unit_vector * theta)
rotation_matrix = matrix_exp(np.matrix(mat))
test_points = []
for xi, yi, zi in zip(x, y, z):
point = np.array([xi, yi, zi])
new = np.asarray(np.dot(rotation_matrix, point))
test_points.append(new[0])
test_points = np.asarray(test_points)
x_test = test_points[:, 0]
y_test = test_points[:, 1]
z_test = test_points[:, 2]
assert np.allclose(x_new, x_test)
assert np.allclose(y_new, y_test)
assert np.allclose(z_new, z_test)