def test_Ex2_B_and_delta_in_frame_B_to_C_in_frame_E():
# delta vector from B to C, decomposed in B is given:
# A custom reference ellipsoid is given (replacing WGS-84):
wgs72 = FrameE(name='WGS72')
# Position and orientation of B is given 400m above E:
n_EB_E = wgs72.Nvector(unit([[1], [2], [3]]), z=-400)
frame_B = FrameB(n_EB_E, yaw=10, pitch=20, roll=30, degrees=True)
p_BC_B = frame_B.Pvector(np.r_[3000, 2000, 100].reshape((-1, 1)))
p_BC_E = p_BC_B.to_ecef_vector()
p_EB_E = n_EB_E.to_ecef_vector()
p_EC_E = p_EB_E + p_BC_E
pointC = p_EC_E.to_geo_point()
lat_EC, lon_EC = pointC.latitude_deg, pointC.longitude_deg
z_EC = pointC.z
# Here we also assume that the user wants output height (= - depth):
msg = 'Ex2, Pos C: lat, long = {},{} deg, height = {} m'
print(msg.format(lat_EC, lon_EC, -z_EC))
assert_array_almost_equal(lat_EC, 53.32637826)
assert_array_almost_equal(lon_EC, 63.46812344)
assert_array_almost_equal(z_EC, -406.00719607)
def test_compare_B_frames(self):
E = FrameE(name='WGS84')
E2 = FrameE(name='WGS72')
n_EB_E = E.Nvector(unit([[1], [2], [3]]), z=-400)
B = FrameB(n_EB_E, yaw=10, pitch=20, roll=30, degrees=True)
self.assertEqual(B, B)
self.assertNotEqual(B, E)
B2 = FrameB(n_EB_E, yaw=1, pitch=20, roll=30, degrees=True)
self.assertNotEqual(B, B2)
B3 = FrameB(n_EB_E, yaw=10, pitch=20, roll=30, degrees=True)
self.assertEqual(B, B3)
n_EC_E = E.Nvector(unit([[1], [2], [2]]), z=-400)
B4 = FrameB(n_EC_E, yaw=10, pitch=20, roll=30, degrees=True)
self.assertNotEqual(B, B4)
n_ED_E = E2.Nvector(unit([[1], [2], [3]]), z=-400)
B5 = FrameB(n_ED_E, yaw=10, pitch=20, roll=30, degrees=True)
self.assertNotEqual(B, B5)
