def test_torotmat(self):
"""Rotmat test from Quaternion"""
np.testing.assert_array_almost_equal(qarray.to_rotmat(self.qeasy[0]),
np.array([[ 8.00000000e-01, -2.77555756e-17, 6.00000000e-01],
[ 3.60000000e-01, 8.00000000e-01, -4.80000000e-01],
[ -4.80000000e-01, 6.00000000e-01, 6.40000000e-01]])
)
def angles2siam(theta, phi, psi):
mat_spin2boresight=qarray.rotation([0,1,0], np.pi/2-SPIN2BORESIGHT)
mat_theta_phi = qarray.rotation([-math.sin(phi),math.cos(phi),0], theta)
mat_psi = qarray.rotation([0,0,1], psi)
# detector points to X axis
total = qarray.mult(mat_spin2boresight, qarray.mult(mat_theta_phi, mat_psi))
# siam is defined as pointing to Z axis
return np.dot(qarray.to_rotmat(total[0]), np.array([[0,0,1],[0,1,0],[1,0,0]]))
def test_fromrotmat(self):
np.testing.assert_array_almost_equal(
self.qeasy[0], qarray.from_rotmat(qarray.to_rotmat(self.qeasy[0]))
)
