def test_rotate_inst2beam(make_data=False):
td = load('RDI_test01_rotate_beam2inst.h5')
td.rotate2('beam', inplace=True)
td_awac = load('AWAC_test01_earth2inst.h5')
td_awac.rotate2('beam', inplace=True)
td_sig = load('BenchFile01_rotate_beam2inst.h5')
td_sig.rotate2('beam', inplace=True)
td_sigi = load('Sig1000_IMU_rotate_beam2inst.h5')
td_sigi.rotate2('beam', inplace=True)
if make_data:
save(td_awac, 'AWAC_test01_inst2beam.h5')
return
cd_td = tr.dat_rdi.copy()
cd_awac = load('AWAC_test01_inst2beam.h5')
cd_sig = tr.dat_sig.copy()
cd_sigi = tr.dat_sigi.copy()
# # The reverse RDI rotation doesn't work b/c of NaN's in one beam
# # that propagate to others, so we impose that here.
cd_td['vel'][:, np.isnan(cd_td['vel']).any(0)] = np.NaN
msg = "adp.rotate.beam2inst gives unexpected REVERSE results for {}"
for t, c, msg in (
(td, cd_td, msg.format('RDI_test01')),
(td_awac, cd_awac, msg.format('AWAC_test01')),
(td_sig, cd_sig, msg.format('BenchFile01')),
(td_sigi, cd_sigi, msg.format('Sig1000_IMU')),
):
yield data_equiv, t, c, msg
def test_rotate_inst2beam(make_data=False):
td = load('RDI_test01_rotate_beam2inst.h5')
td.rotate2('beam', inplace=True)
td_awac = load('AWAC_test01_earth2inst.h5')
td_awac.rotate2('beam', inplace=True)
td_sig = load('BenchFile01_rotate_beam2inst.h5')
td_sig.rotate2('beam', inplace=True)
td_sigi = load('Sig1000_IMU_rotate_beam2inst.h5')
td_sigi.rotate2('beam', inplace=True)
if make_data:
save(td_awac, 'AWAC_test01_inst2beam.h5')
return
cd_td = tr.dat_rdi.copy()
cd_awac = load('AWAC_test01_inst2beam.h5')
cd_sig = tr.dat_sig.copy()
cd_sigi = tr.dat_sigi.copy()
# # The reverse RDI rotation doesn't work b/c of NaN's in one beam
# # that propagate to others, so we impose that here.
cd_td['vel'][:, np.isnan(cd_td['vel']).any(0)] = np.NaN
msg = "adp.rotate.beam2inst gives unexpected REVERSE results for {}"
for t, c, msg in (
(td, cd_td, msg.format('RDI_test01')),
(td_awac, cd_awac, msg.format('AWAC_test01')),
(td_sig, cd_sig, msg.format('BenchFile01')),
(td_sigi, cd_sigi, msg.format('Sig1000_IMU')),
):
yield data_equiv, t, c, msg
def test_rotate_earth2principal(make_data=False):
td_rdi = load('RDI_test01_rotate_inst2earth.h5')
td_sig = load('BenchFile01_rotate_inst2earth.h5')
td_awac = tr.dat_awac.copy()
td_rdi.props['principal_heading'] = calc_principal_heading(
td_rdi.vel.mean(1))
td_sig.props['principal_heading'] = calc_principal_heading(
td_sig.vel.mean(1))
td_awac.props['principal_heading'] = calc_principal_heading(
td_sig.vel.mean(1), tidal_mode=False)
td_rdi.rotate2('principal')
td_sig.rotate2('principal')
td_awac.rotate2('principal')
if make_data:
save(td_rdi, 'RDI_test01_rotate_earth2principal.h5')
save(td_sig, 'BenchFile01_rotate_earth2principal.h5')
save(td_awac, 'AWAC_test01_earth2principal.h5')
return
cd_rdi = load('RDI_test01_rotate_earth2principal.h5')
cd_sig = load('BenchFile01_rotate_earth2principal.h5')
cd_awac = load('AWAC_test01_earth2principal.h5')
msg = "adp.rotate.earth2principal gives unexpected results for {}"
for t, c, msg in (
(td_rdi, cd_rdi, msg.format('RDI_test01')),
(td_awac, cd_awac, msg.format('AWAC_test01')),
(td_sig, cd_sig, msg.format('BenchFile01')),
):
yield data_equiv, t, c, msg
def test_rotate_beam2inst(make_data=False):
td = tr.dat_rdi.rotate2('inst')
td_sig = tr.dat_sig.rotate2('inst')
td_sigi = tr.dat_sigi.rotate2('inst')
td_sigi_echo_bt = tr.dat_sigi_echo_bt.rotate2('inst')
if make_data:
save(td, 'RDI_test01_rotate_beam2inst.h5')
save(td_sig, 'BenchFile01_rotate_beam2inst.h5')
save(td_sigi, 'Sig1000_IMU_rotate_beam2inst.h5')
save(td_sigi_echo_bt, 'VelEchoBT01_rotate_beam2inst.h5')
return
cd_sig = load('BenchFile01_rotate_beam2inst.h5')
cd_sigi = load('Sig1000_IMU_rotate_beam2inst.h5')
cd_sigi_echo_bt = load('VelEchoBT01_rotate_beam2inst.h5')
msg = "adp.rotate.beam2inst gives unexpected results for {}"
for t, c, msg in (
(td, tr.dat_rdi_i, msg.format('RDI_test01')),
(td_sig, cd_sig, msg.format('BenchFile01')),
(td_sigi, cd_sigi, msg.format('Sig1000_IMU')),
(td_sigi_echo_bt, cd_sigi_echo_bt, msg.format('VelEchoBT01')),
):
yield data_equiv, t, c, msg
def test_rotate_beam2inst():
td = load('vector_data01_rotate_inst2beam.h5')
rotate(td, 'inst', inplace=True)
tdm = load('vector_data_imu01_rotate_inst2beam.h5')
rotate(tdm, 'inst', inplace=True)
cd = tr.dat.copy()
cdm = tr.dat_imu.copy()
msg = "adv.rotate.beam2inst gives unexpected results for {}"
for t, c, msg in (
(td, cd, msg.format('vector_data01')),
(tdm, cdm, msg.format('vector_data_imu01')),
):
yield data_equiv, t, c, msg
def test_rotate_beam2inst():
td = load('vector_data01_rotate_inst2beam.h5')
rotate(td, 'inst', inplace=True)
tdm = load('vector_data_imu01_rotate_inst2beam.h5')
rotate(tdm, 'inst', inplace=True)
cd = tr.dat.copy()
cdm = tr.dat_imu.copy()
msg = "adv.rotate.beam2inst gives unexpected results for {}"
for t, c, msg in (
(td, cd, msg.format('vector_data01')),
(tdm, cdm, msg.format('vector_data_imu01')),
):
yield data_equiv, t, c, msg
def test_rotate_inst2earth(make_data=False):
td = tr.dat_rdi_i.rotate2('earth')
tdwr2 = tr.dat_wr2.rotate2('earth')
td_sig = load('BenchFile01_rotate_beam2inst.h5')
td_sig.rotate2('earth', inplace=True)
td_sigi = load('Sig1000_IMU_rotate_beam2inst.h5')
td_sigi.rotate2('earth', inplace=True)
td_awac = load('AWAC_test01_earth2inst.h5')
td_awac.rotate2('earth', inplace=True)
if make_data:
save(td, 'RDI_test01_rotate_inst2earth.h5')
save(td_sig, 'BenchFile01_rotate_inst2earth.h5')
save(td_sigi, 'Sig1000_IMU_rotate_inst2earth.h5')
save(tdwr2, 'winriver02_rotate_ship2earth.h5')
return
cd = load('RDI_test01_rotate_inst2earth.h5')
cdwr2 = load('winriver02_rotate_ship2earth.h5')
cd_sig = load('BenchFile01_rotate_inst2earth.h5')
cd_sigi = load('Sig1000_IMU_rotate_inst2earth.h5')
cd_awac = tr.dat_awac
msg = "adp.rotate.inst2earth gives unexpected results for {}"
for t, c, msg in (
(td, cd, msg.format('RDI_test01')),
(tdwr2, cdwr2, msg.format('winriver02')),
(td_awac, cd_awac, msg.format('AWAC_test01')),
(td_sig, cd_sig, msg.format('BenchFile01')),
(td_sigi, cd_sigi, msg.format('Sig1000_IMU')),
):
yield data_equiv, t, c, msg
def test_rotate_inst2earth(make_data=False):
td = tr.dat_rdi_i.rotate2('earth')
tdwr2 = tr.dat_wr2.rotate2('earth')
td_sig = load('BenchFile01_rotate_beam2inst.h5')
td_sig.rotate2('earth', inplace=True)
td_sigi = load('Sig1000_IMU_rotate_beam2inst.h5')
td_sigi.rotate2('earth', inplace=True)
td_awac = load('AWAC_test01_earth2inst.h5')
td_awac.rotate2('earth', inplace=True)
if make_data:
save(td, 'RDI_test01_rotate_inst2earth.h5')
save(td_sig, 'BenchFile01_rotate_inst2earth.h5')
save(td_sigi, 'Sig1000_IMU_rotate_inst2earth.h5')
save(tdwr2, 'winriver02_rotate_ship2earth.h5')
return
cd = load('RDI_test01_rotate_inst2earth.h5')
cdwr2 = load('winriver02_rotate_ship2earth.h5')
cd_sig = load('BenchFile01_rotate_inst2earth.h5')
cd_sigi = load('Sig1000_IMU_rotate_inst2earth.h5')
cd_awac = tr.dat_awac
msg = "adp.rotate.inst2earth gives unexpected results for {}"
for t, c, msg in (
(td, cd, msg.format('RDI_test01')),
(tdwr2, cdwr2, msg.format('winriver02')),
(td_awac, cd_awac, msg.format('AWAC_test01')),
(td_sig, cd_sig, msg.format('BenchFile01')),
(td_sigi, cd_sigi, msg.format('Sig1000_IMU')),
):
yield data_equiv, t, c, msg
def test_rotate_earth2inst():
td = load('vector_data01_rotate_inst2earth.h5')
rotate(td, 'inst', inplace=True)
tdm = load('vector_data_imu01_rotate_inst2earth.h5')
rotate(tdm, 'inst', inplace=True)
cd = tr.dat.copy()
cdm = tr.dat_imu.copy()
# The heading/pitch/roll data gets modified during rotation, so it
# doesn't go back to what it was.
cdm.pop('orient')
tdm.pop('orient')
msg = "adv.rotate.inst2earth gives unexpected REVERSE results for {}"
for t, c, msg in (
(td, cd, msg.format('vector_data01')),
(tdm, cdm, msg.format('vector_data_imu01')),
):
yield data_equiv, t, c, msg
def test_rotate_earth2inst():
td = load('vector_data01_rotate_inst2earth.h5')
rotate(td, 'inst', inplace=True)
tdm = load('vector_data_imu01_rotate_inst2earth.h5')
rotate(tdm, 'inst', inplace=True)
cd = tr.dat.copy()
cdm = tr.dat_imu.copy()
# The heading/pitch/roll data gets modified during rotation, so it
# doesn't go back to what it was.
cdm.pop('orient')
tdm.pop('orient')
msg = "adv.rotate.inst2earth gives unexpected REVERSE results for {}"
for t, c, msg in (
(td, cd, msg.format('vector_data01')),
(tdm, cdm, msg.format('vector_data_imu01')),
):
yield data_equiv, t, c, msg
def test_rotate_inst2beam(make_data=False):
td = tr.dat.copy()
rotate(td, 'beam', inplace=True)
tdm = tr.dat_imu.copy()
rotate(tdm, 'beam', inplace=True)
if make_data:
save(td, 'vector_data01_rotate_inst2beam.h5')
save(tdm, 'vector_data_imu01_rotate_inst2beam.h5')
return
cd = load('vector_data01_rotate_inst2beam.h5')
cdm = load('vector_data_imu01_rotate_inst2beam.h5')
msg = "adv.rotate.beam2inst gives unexpected REVERSE results for {}"
for t, c, msg in (
(td, cd, msg.format('vector_data01')),
(tdm, cdm, msg.format('vector_data_imu01')),
):
yield data_equiv, t, c, msg
def test_rotate_inst2beam(make_data=False):
# # The reverse RDI rotation doesn't work b/c of NaN's in one beam
# # that propagate to others.
# td = load('RDI_test01_rotate_beam2inst.h5')
# td.rotate('beam', inplace=True)
td_awac = load('AWAC_test01_earth2inst.h5')
td_awac.rotate2('beam', inplace=True)
if make_data:
save(td_awac, 'AWAC_test01_inst2beam.h5')
return
cd_awac = load('AWAC_test01_inst2beam.h5')
msg = "adp.rotate.beam2inst gives unexpected REVERSE results for {}"
for t, c, msg in (
# (td, dat_rdi, msg.format('RDI_test01')),
(td_awac, cd_awac, msg.format('AWAC_test01')), ):
yield data_equiv, t, c, msg
def test_rotate_inst2earth(make_data=False):
td = tr.dat.copy()
rotate(td, 'earth', inplace=True)
tdm = tr.dat_imu.copy()
rotate(tdm, 'earth', inplace=True)
if make_data:
save(td, 'vector_data01_rotate_inst2earth.h5')
save(tdm, 'vector_data_imu01_rotate_inst2earth.h5')
return
cd = load('vector_data01_rotate_inst2earth.h5')
cdm = load('vector_data_imu01_rotate_inst2earth.h5')
msg = "adv.rotate.inst2earth gives unexpected results for {}"
for t, c, msg in (
(td, cd, msg.format('vector_data01')),
(tdm, cdm, msg.format('vector_data_imu01')),
):
yield data_equiv, t, c, msg
def test_rotate_earth2principal(make_data=False):
td = load('vector_data01_rotate_inst2earth.h5')
rotate(td, 'principal', inplace=True)
tdm = load('vector_data_imu01_rotate_inst2earth.h5')
rotate(tdm, 'principal', inplace=True)
if make_data:
save(td, 'vector_data01_rotate_earth2principal.h5')
save(tdm, 'vector_data_imu01_rotate_earth2principal.h5')
return
cd = load('vector_data01_rotate_earth2principal.h5')
cdm = load('vector_data_imu01_rotate_earth2principal.h5')
msg = "adv.rotate.earth2principal gives unexpected results for {}"
for t, c, msg in (
(td, cd, msg.format('vector_data01')),
(tdm, cdm, msg.format('vector_data_imu01')),
):
yield data_equiv, t, c, msg
def test_rotate_earth2inst(make_data=False):
td = (load('RDI_test01_rotate_inst2earth.h5').rotate2('inst',
inplace=True))
# tdwr2 = load('winriver02_rotate_ship2earth.h5')
# tdwr2.rotate2('inst', inplace=True)
# This AWAC is in earth coords.
td_awac = tr.dat_awac.rotate2('inst')
td_sig = load('BenchFile01_rotate_inst2earth.h5')
td_sig.rotate2('inst', inplace=True)
td_sigi = load('Sig1000_IMU_rotate_inst2earth.h5')
td_sigi.rotate2('inst', inplace=True)
if make_data:
save(td_awac, 'AWAC_test01_earth2inst.h5')
return
cd_awac = load('AWAC_test01_earth2inst.h5')
cd_sig = load('BenchFile01_rotate_beam2inst.h5')
cd_sigi = load('Sig1000_IMU_rotate_beam2inst.h5')
msg = "adp.rotate.inst2earth gives unexpected REVERSE results for {}"
for t, c, msg in (
(td, tr.dat_rdi_i, msg.format('RDI_test01')),
#(tdwr2, dat_wr2, msg.format('winriver02')),
(td_awac, cd_awac, msg.format('AWAC_test01')),
(td_sig, cd_sig, msg.format('BenchFile01')),
(td_sigi, cd_sigi, msg.format('Sig1000_IMU')),
):
yield data_equiv, t, c, msg
def test_rotate_earth2inst(make_data=False):
td = (load('RDI_test01_rotate_inst2earth.h5')
.rotate2('inst', inplace=True))
# tdwr2 = load('winriver02_rotate_ship2earth.h5')
# tdwr2.rotate2('inst', inplace=True)
# This AWAC is in earth coords.
td_awac = tr.dat_awac.rotate2('inst')
td_sig = load('BenchFile01_rotate_inst2earth.h5')
td_sig.rotate2('inst', inplace=True)
td_sigi = load('Sig1000_IMU_rotate_inst2earth.h5')
td_sigi.rotate2('inst', inplace=True)
if make_data:
save(td_awac, 'AWAC_test01_earth2inst.h5')
return
cd_awac = load('AWAC_test01_earth2inst.h5')
cd_sig = load('BenchFile01_rotate_beam2inst.h5')
cd_sigi = load('Sig1000_IMU_rotate_beam2inst.h5')
assert (np.abs(cd_sigi['orient'].pop('accel') - \
td_sigi['orient'].pop('accel')) < 1e-3).all(), \
"adp.rotate.inst2earth gives unexpected ACCEL results for 'Sig1000_IMU_rotate_beam2inst.h5'"
msg = "adp.rotate.inst2earth gives unexpected REVERSE results for {}"
for t, c, msg in (
(td, tr.dat_rdi_i, msg.format('RDI_test01')),
#(tdwr2, dat_wr2, msg.format('winriver02')),
(td_awac, cd_awac, msg.format('AWAC_test01')),
(td_sig, cd_sig, msg.format('BenchFile01')),
(td_sigi, cd_sigi, msg.format('Sig1000_IMU')),
):
yield data_equiv, t, c, msg
def test_rotate_earth2principal(make_data=False):
td = load('vector_data01_rotate_inst2earth.h5')
td['props']['principal_heading'] = calc_principal_heading(td['vel'])
rotate(td, 'principal', inplace=True)
tdm = load('vector_data_imu01_rotate_inst2earth.h5')
tdm['props']['principal_heading'] = calc_principal_heading(tdm['vel'])
rotate(tdm, 'principal', inplace=True)
if make_data:
save(td, 'vector_data01_rotate_earth2principal.h5')
save(tdm, 'vector_data_imu01_rotate_earth2principal.h5')
return
cd = load('vector_data01_rotate_earth2principal.h5')
cdm = load('vector_data_imu01_rotate_earth2principal.h5')
msg = "adv.rotate.earth2principal gives unexpected results for {}"
for t, c, msg in (
(td, cd, msg.format('vector_data01')),
(tdm, cdm, msg.format('vector_data_imu01')),
):
yield data_equiv, t, c, msg
def test_rotate_beam2inst(make_data=False):
td = tr.dat_rdi.rotate2('inst')
td_sig = tr.dat_sig.rotate2('inst')
td_sigi = tr.dat_sigi.rotate2('inst')
if make_data:
save(td, 'RDI_test01_rotate_beam2inst.h5')
save(td_sig, 'BenchFile01_rotate_beam2inst.h5')
save(td_sigi, 'Sig1000_IMU_rotate_beam2inst.h5')
return
cd_sig = load('BenchFile01_rotate_beam2inst.h5')
cd_sigi = load('Sig1000_IMU_rotate_beam2inst.h5')
msg = "adp.rotate.beam2inst gives unexpected results for {}"
for t, c, msg in (
(td, tr.dat_rdi_i, msg.format('RDI_test01')),
(td_sig, cd_sig, msg.format('BenchFile01')),
(td_sigi, cd_sigi, msg.format('Sig1000_IMU')),
):
yield data_equiv, t, c, msg
def test_pr_declination():
# Test to confirm that pitch and roll don't change when you set
# declination
declin = 15.37
dat = load('vector_data_imu01.h5')
h0, p0, r0 = orient2euler(dat['orient']['orientmat'])
dat.set_declination(declin)
h1, p1, r1 = orient2euler(dat['orient']['orientmat'])
assert np.allclose(p0, p1), "Pitch changes when setting declination"
assert np.allclose(r0, r1), "Roll changes when setting declination"
assert np.allclose(h0 + declin, h1), "incorrect heading change when " \
"setting declination"
def test_rotate_earth2principal(make_data=False):
td_rdi = load('RDI_test01_rotate_inst2earth.h5')
td_sig = load('BenchFile01_rotate_inst2earth.h5')
td_awac = tr.dat_awac.copy()
td_rdi.props['principal_heading'] = calc_principal_heading(
td_rdi.vel.mean(1))
td_sig.props['principal_heading'] = calc_principal_heading(
td_sig.vel.mean(1))
td_awac.props['principal_heading'] = calc_principal_heading(
td_sig.vel.mean(1),
tidal_mode=False)
td_rdi.rotate2('principal')
td_sig.rotate2('principal')
td_awac.rotate2('principal')
if make_data:
save(td_rdi, 'RDI_test01_rotate_earth2principal.h5')
save(td_sig, 'BenchFile01_rotate_earth2principal.h5')
save(td_awac, 'AWAC_test01_earth2principal.h5')
return
cd_rdi = load('RDI_test01_rotate_earth2principal.h5')
cd_sig = load('BenchFile01_rotate_earth2principal.h5')
cd_awac = load('AWAC_test01_earth2principal.h5')
msg = "adp.rotate.earth2principal gives unexpected results for {}"
for t, c, msg in (
(td_rdi, cd_rdi, msg.format('RDI_test01')),
(td_awac, cd_awac, msg.format('AWAC_test01')),
(td_sig, cd_sig, msg.format('BenchFile01')),
):
yield data_equiv, t, c, msg
def test_rotate_earth2principal_set_declination():
declin = 3.875
td = load('vector_data01_rotate_inst2earth.h5')
td0 = td.copy()
td['props']['principal_heading'] = calc_principal_heading(td['vel'])
td.rotate2('principal', inplace=True)
td.set_declination(declin)
td.rotate2('earth', inplace=True)
td0.set_declination(declin)
td0['props']['principal_heading'] = calc_principal_heading(td0['vel'])
data_equiv(td0, td,
"Something is wrong with declination "
"handling w/r/t principal_heading.")
def test_rotate_earth2principal_set_declination():
declin = 3.875
td = load('vector_data01_rotate_inst2earth.h5')
td0 = td.copy()
td['props']['principal_heading'] = calc_principal_heading(td['vel'])
td.rotate2('principal', inplace=True)
td.set_declination(declin)
td.rotate2('earth', inplace=True)
td0.set_declination(declin)
td0['props']['principal_heading'] = calc_principal_heading(td0['vel'])
data_equiv(
td0, td, "Something is wrong with declination "
"handling w/r/t principal_heading.")