def test_rotation(self):
my_obj = self._obj
# rotation about the y-axis by 90 degree should change the direction vector to x
my_obj.rotate_y(90, units="deg")
self.assertTrue(
np.allclose(my_obj.get_orientation(), cg.Vector(1., 0, 0)))
# now rotation it about the z-axis 90 degree should have it point to positive y
my_obj.rotate_z(90, units="deg")
self.assertTrue(
np.allclose(my_obj.get_orientation(), cg.Vector(0, 1., 0)))
# rotation 90 degree about the x-axis should reset it to positive z
my_obj.rotate_x(90, units="deg")
self.assertTrue(
np.allclose(my_obj.get_orientation(), cg.Vector(0, 0, 1.)))
def test_rotation_units(self):
# rotations should work for radians and degrees
rotation_angles = [90, np.pi / 2]
rotation_units = ["deg", "rad"]
for angle, unit in zip(rotation_angles, rotation_units):
self._obj.rotate_y(angle, units=unit).rotate_z(
angle, units=unit).rotate_x(angle, units=unit)
self.assertTrue(
np.allclose(self._obj.get_orientation(), cg.Vector(0, 0, 1.)),
f"Test Failed for unit {unit}, has orientation {self._obj.get_orientation()}"
)
def test_orientation_does_not_scale(self):
self._obj.scale(100, 100, 100)
self.assertTrue(
np.allclose(self._obj.get_orientation(), cg.Vector(0, 0, 1.)))
def test_object_creation(self):
# the object should be centered at the origin facing the positive z-axis
self.assertTrue(
np.array_equal(self._obj.get_position(), cg.Point(0, 0, 0)))
self.assertTrue(
np.array_equal(self._obj.get_orientation(), cg.Vector(0, 0, 1)))
def setUp(self):
self.coord = cg.Vector(3, 4, 5)
def test_rotation_chain(self):
# rotations should be able to be cascaded
self._obj.rotate_y(90, units="deg").rotate_z(90, units="deg").rotate_x(
90, units="deg")
self.assertTrue(
np.allclose(self._obj.get_orientation(), cg.Vector(0, 0, 1.)))