def test_inverse(self):
"""
Test that rotation * inverse = identity.
"""
for i in xrange(n_tests):
vector = np.array([random_polaz()])
a, b, c = random_euler_angle()
err = su.angle_between_points(vector, \
su.rotate_euler(su.rotate_euler(vector, a, b, c), -c, -b, -a))
self.assertAlmostEqual(err, 0.)
def test_inverse(self):
"""
Test that rotation * inverse = identity.
"""
for i in xrange(n_tests):
vector = np.array([random_polaz()])
a, b, c = random_euler_angle()
err = su.angle_between_points(vector, \
su.rotate_euler(su.rotate_euler(vector, a, b, c), -c, -b, -a))
self.assertAlmostEqual(err, 0.)
def test_identity(self):
"""
Test that Euler angles of zero are the identity operation.
"""
for i in xrange(n_tests):
vector = np.array([random_polaz()])
err = su.angle_between_points(vector,
su.rotate_euler(vector, 0., 0., 0.))
self.assertAlmostEqual(err, 0.)
def test_identity(self):
"""
Test that Euler angles of zero are the identity operation.
"""
for i in xrange(n_tests):
vector = np.array([random_polaz()])
err = su.angle_between_points(vector,
su.rotate_euler(vector, 0., 0., 0.))
self.assertAlmostEqual(err, 0.)
def test_north_pole(self):
"""
Test that new_z_to_euler() gives Euler angles that will rotate the
original z axis to the requested z axis.
"""
north_pole = np.array([[0., 0.]])
for i in xrange(n_tests):
new_dir = random_polaz()
a, b = su.new_z_to_euler(new_dir)
new_north = su.rotate_euler(north_pole, a, b, 0)
self.assertAlmostEqual(0., \
su.angle_between_points(new_north, np.array([new_dir])))
def test_angle_preserved(self):
"""
Test that the angle between two vectors is preserved under rotation.
"""
for i in xrange(n_tests):
vectors_0 = np.array((random_polaz(), random_polaz()), dtype=float)
d_0 = su.angle_between_points(*vectors_0)
a, b, c = random_euler_angle()
vectors_1 = su.rotate_euler(vectors_0, a, b, c)
d_1 = su.angle_between_points(*vectors_1)
self.assertAlmostEqual(d_0, d_1)
def test_north_pole(self):
"""
Test that new_z_to_euler() gives Euler angles that will rotate the
original z axis to the requested z axis.
"""
north_pole = np.array([[0., 0.]])
for i in xrange(n_tests):
new_dir = random_polaz()
a, b = su.new_z_to_euler(new_dir)
new_north = su.rotate_euler(north_pole, a, b, 0)
self.assertAlmostEqual(0., \
su.angle_between_points(new_north, np.array([new_dir])))
def test_angle_preserved(self):
"""
Test that the angle between two vectors is preserved under rotation.
"""
for i in xrange(n_tests):
vectors_0 = np.array((random_polaz(), random_polaz()),
dtype=float)
d_0 = su.angle_between_points(*vectors_0)
a, b, c = random_euler_angle()
vectors_1 = su.rotate_euler(vectors_0, a, b, c)
d_1 = su.angle_between_points(*vectors_1)
self.assertAlmostEqual(d_0, d_1)
