def test_inverse(self):
t = Affine(linear=self.randomMatrix(), translation=self.randomVector())
inv = t.inverse()
self.assertTrue(inv(t).is_identity())
self.assertTrue((inv * t).is_identity())
def test_orthogonality(self):
self.assertTrue( Affine.identity().is_orthogonal() )
self.assertTrue( Affine(
rotation_axis=self.randomVector(),
rotation_deg=numpy.random.rand()*360).is_orthogonal() )
self.assertFalse( Affine(scaling=2.0).is_orthogonal() )
def test_identity(self):
vec = self.randomVector()
t = Affine.identity()
self.assertVecsEqual( vec, t(vec) )
self.assertTrue( t.is_identity() )
self.assertFalse( Affine(translation=(1,2,3)).is_identity() )
self.assertFalse( Affine(rotation_axis='y', rotation_deg=10).is_identity() )
rotCcw = Affine(rotation_axis=(1,0,0), rotation_deg=90)
rotCw = Affine(rotation_axis='x', rotation_deg=-90)
self.assertTrue(rotCcw(rotCw).is_identity())
def tracer_coordinate_system(self):
return Affine.identity()
