def test_m2rotaxis_0(self): """Test 0 deg rotation. Axis must be [1, 0, 0] as per Vector documentation.""" v1 = Vector([1.0, 0.8, 0]) v2 = Vector([1.0, 0.8, 0]) rot = rotmat(v1, v2) angle, axis = m2rotaxis(rot) self.assertTrue(numpy.allclose(axis.get_array(), [1, 0, 0])) self.assertTrue(abs(angle) < 1e-5)
def test_m2rotaxis_90(self): """Test 90 deg rotation.""" v1 = Vector(0, 0, 1) v2 = Vector(0, 1, 0) rot = rotmat(v1, v2) angle, axis = m2rotaxis(rot) self.assertTrue(numpy.allclose(axis.get_array(), [-1.0, 0.0, 0.0])) self.assertTrue(abs(angle - numpy.pi / 2) < 1e-5)
def test_m2rotaxis_180(self): """Test 180 deg rotation.""" v1 = Vector([1.0, 0.8, 0]) v2 = Vector([-1.0, -0.8, 0]) rot = rotmat(v1, v2) angle, axis = m2rotaxis(rot) self.assertTrue(abs(axis * v1) < 1e-5) # axis orthogonal to v1 self.assertTrue(abs(angle - numpy.pi) < 1e-5)
def test_Vector_angles(self): """Test Vector angles.""" angle = random() * numpy.pi axis = Vector(random(3) - random(3)) axis.normalize() m = rotaxis(angle, axis) cangle, caxis = m2rotaxis(m) self.assertAlmostEqual(angle, cangle, places=3) self.assertTrue( numpy.allclose(list(map(int, (axis - caxis).get_array())), [0, 0, 0]), "Want %r and %r to be almost equal" % (axis.get_array(), caxis.get_array()))