def test_with_axes(py_c_vec):
"""Test the with_axes() constructor."""
Vec, Angle, Matrix, parse_vec_str = py_c_vec
for axis, u, v in [
('pitch', 'yaw', 'roll'),
('yaw', 'pitch', 'roll'),
('roll', 'pitch', 'yaw'),
]:
for num in VALID_ZERONUMS:
test_num = num % 360
ang = Angle.with_axes(axis, num)
assert ang[axis] == test_num
assert getattr(ang, axis) == test_num
# Other axes are zero.
assert ang[u] == 0
assert ang[v] == 0
assert getattr(ang, u) == 0
assert getattr(ang, v) == 0
for a, b, c in iter_vec(('pitch', 'yaw', 'roll')):
if a == b or b == c or a == c:
continue
for x, y, z in iter_vec(VALID_ZERONUMS):
ang = Angle.with_axes(a, x, b, y, c, z)
x %= 360
y %= 360
z %= 360
assert ang[a] == x
assert ang[b] == y
assert ang[c] == z
assert getattr(ang, a) == x
assert getattr(ang, b) == y
assert getattr(ang, c) == z
def _fill_norm_rotations() -> Dict[Tuple[Tuple[float, float, float], Tuple[
float, float, float]], Matrix, ]:
"""Given a norm->norm rotation, return the angles producing that."""
rotations = {}
for norm_ax in 'xyz':
for norm_mag in [-1, +1]:
norm = Vec.with_axes(norm_ax, norm_mag)
for angle_ax in ('pitch', 'yaw', 'roll'):
for angle_mag in (-90, 90):
angle = Matrix.from_angle(
Angle.with_axes(angle_ax, angle_mag))
new_norm = norm @ angle
if new_norm != norm:
rotations[norm.as_tuple(), new_norm.as_tuple()] = angle
# Assign a null rotation as well.
rotations[norm.as_tuple(), norm.as_tuple()] = Matrix()
rotations[norm.as_tuple(), (-norm).as_tuple()] = Matrix()
return rotations