def test_striu():
# Shears encoded as vector from triangle above diagonal of shear mat
S = [0.1, 0.2, 0.3]
assert_array_equal(tss.striu2mat(S),
[[ 1. , 0.1, 0.2],
[ 0. , 1. , 0.3],
[ 0. , 0. , 1. ]])
assert_array_equal(tss.striu2mat([1]),
[[ 1., 1.],
[ 0., 1.]])
for n, N in ((1, 2),
(3, 3),
(6, 4),
(10, 5),
(15, 6),
(21, 7),
(78, 13)):
shears = np.arange(n)
M = tss.striu2mat(shears)
e = np.eye(N)
inds = np.triu(np.ones((N,N)), 1).astype(bool)
e[inds] = shears
assert_array_equal(M, e)
for n in (2, 4, 5, 7, 8, 9):
shears = np.zeros(n)
assert_raises(ValueError, tss.striu2mat, shears)
def test_fillpos():
# Takes np array
xyz = np.zeros((3, ))
w, x, y, z = tq.fillpositive(xyz)
assert w == 1
# Or lists
xyz = [0] * 3
w, x, y, z = tq.fillpositive(xyz)
assert w == 1
# Errors with wrong number of values
assert_raises(ValueError, tq.fillpositive, [0, 0])
assert_raises(ValueError, tq.fillpositive, [0] * 4)
# Errors with negative w2
assert_raises(ValueError, tq.fillpositive, [1.0] * 3)
# Test corner case where w is near zero
wxyz = tq.fillpositive([1, 0, 0])
assert wxyz[0] == 0.0
eps = np.finfo(float).eps
wxyz = tq.fillpositive([1 + eps, 0, 0])
assert wxyz[0] == 0.0
# Bump up the floating point error - raises error
assert_raises(ValueError, tq.fillpositive, [1 + eps * 3, 0, 0])
# Increase threshold, happy again
wxyz = tq.fillpositive([1 + eps * 3, 0, 0], w2_thresh=eps * -10)
assert wxyz[0] == 0.0
def test_fillpos():
# Takes np array
xyz = np.zeros((3,))
w,x,y,z = tq.fillpositive(xyz)
assert w == 1
# Or lists
xyz = [0] * 3
w,x,y,z = tq.fillpositive(xyz)
assert w == 1
# Errors with wrong number of values
assert_raises(ValueError, tq.fillpositive, [0, 0])
assert_raises(ValueError, tq.fillpositive, [0]*4)
# Errors with negative w2
assert_raises(ValueError, tq.fillpositive, [1.0]*3)
# Test corner case where w is near zero
wxyz = tq.fillpositive([1, 0, 0])
assert wxyz[0] == 0.0
eps = np.finfo(float).eps
wxyz = tq.fillpositive([1 + eps, 0, 0])
assert wxyz[0] == 0.0
# Bump up the floating point error - raises error
assert_raises(ValueError, tq.fillpositive, [1 + eps * 3, 0, 0])
# Increase threshold, happy again
wxyz = tq.fillpositive([1 + eps * 3, 0, 0], w2_thresh=eps * -10)
assert wxyz[0] == 0.0
def test_mat2axangle_thresh():
# Test precision threshold to mat2axangle
axis, angle = mat2axangle(np.eye(3))
assert_almost_equal(axis, [0, 0, 1])
assert_almost_equal(angle, 0)
offset = 1e-6
mat = np.diag([1 + offset] * 3)
axis, angle = mat2axangle(mat)
assert_almost_equal(axis, [0, 0, 1])
assert_almost_equal(angle, 0)
offset = 1e-4
mat = np.diag([1 + offset] * 3)
assert_raises(ValueError, mat2axangle, mat)
axis, angle = mat2axangle(mat, 1e-4)
assert_almost_equal(axis, [0, 0, 1])
assert_almost_equal(angle, 0)
def test_no_reflection():
assert_raises(ValueError, mat2rfnorm, np.eye(3))
assert_raises(ValueError, aff2rfnorm, np.eye(4))
# Rotations are not reflections
for mat in euler_mats:
assert_raises(ValueError, mat2rfnorm, mat)
aff = np.eye(4)
aff[:3, :3] = mat
assert_raises(ValueError, aff2rfnorm, aff)
def test_errors():
M = np.ones((3, 3))
assert_raises(ValueError, mat2axangle, M)
A = np.eye(4)
A[:3, :3] = M
assert_raises(ValueError, aff2axangle, A)
def test_compose():
# Test that rotation vector raises error
T = np.ones(3)
R = np.ones(3)
Z = np.ones(3)
assert_raises(ValueError, compose, T, R, Z)