def test_applyTorsion02(self):
"""applyTorsion -- apply torsions in any order"""
ko1 = Kinematics(self.known_points, self.torTree, tolist=0)
ko1.applyTorsion(ko1.torsions[0], 90.)
result1 = ko1.applyTorsion(ko1.torsions[1], -90.)
ko2 = Kinematics(self.known_points, self.torTree, tolist=0)
ko2.applyTorsion(ko2.torsions[1], -90.)
result2 = ko2.applyTorsion(ko2.torsions[0], 90.)
self.assertArrayEqual(result1, result2)
def test_applyAngList04(self):
"""applyAngList -- one-at-time equals all-at-once"""
ko1 = Kinematics(self.known_points, self.torTree, tolist=0)
ko2 = Kinematics(self.known_points, self.torTree, tolist=0)
result1 = ko1.applyAngList([90., -90., 0.], self.idmtx)[:, :3]
# do the rotations separately
ko2.applyAngList([90., 0., 0.])
result2 = ko2.applyAngList([0., -90., 0.], self.idmtx)[:, :3]
self.assertArrayEqual(result1, result2)
def test_applyTorsion02(self):
"""applyTorsion -- return correct coords torsion=1, angle=90."""
ko = Kinematics(self.known_points, self.torTree, tolist=0)
result = ko.applyTorsion(ko.torsions[1], 90.)[:, :3]
self.known_points[0] = [1., -1., 1.]
self.known_points[2] = [1., 0., 2.]
self.assertArrayEqual(self.known_points, result)
def test_applyAngList022(self):
"""applyAngList -- return correct coords ( 0,-90, 0)"""
ko = Kinematics(self.known_points, self.torTree, tolist=0)
result = ko.applyAngList([0., -90., 0.], self.idmtx)[:, :3]
self.known_points[0] = [1., 1., 1.]
self.known_points[2] = [1., 0., 0.]
self.assertArrayEqual(self.known_points, result)
def test_applyTorsion01(self):
"""applyTorsion -- return correct coords torsion=0, angle=0."""
ko = Kinematics(self.known_points, self.torTree, tolist=1)
self.assertEqual(self.known_points,
ko.applyTorsion(ko.torsions[0], 0.))
def test_applyAngList05(self):
"""applyAngList -- ValueError if len(angList) != len(torsions)"""
ko = Kinematics(self.known_points, self.torTree, tolist=1)
self.assertRaises(ValueError, ko.applyAngList, ([0, 0], self.idmtx))
def test_applyAngList01(self):
"""applyAngList -- return correct coords (360., 360., 360.)"""
ko = Kinematics(self.known_points, self.torTree, tolist=0)
result = ko.applyAngList([360., 360., 360.], self.idmtx)[:, :3]
self.assertArrayEqual(self.known_points, result)
def test_applyAngList00(self):
"""applyAngList -- return correct coords (0., 0., 0.)"""
ko = Kinematics(self.known_points, self.torTree, tolist=1)
self.assertEqual(self.known_points,
ko.applyAngList([0, 0, 0], self.idmtx))
