def test_zero_angle(self):
zero_vec = np.zeros(3) * q.m
self.assertEqual(geom.angle(zero_vec, zero_vec), 0 * q.deg)
vectors = get_base()
for vec in vectors:
self.assertEqual(geom.angle(zero_vec, vec), 0 * q.deg)
def test_zero_angle(self):
zero_vec = np.zeros(3) * q.m
self.assertEqual(geom.angle(zero_vec, zero_vec), 0 * q.deg)
vectors = get_base()
for vec in vectors:
self.assertEqual(geom.angle(zero_vec, vec), 0 * q.deg)
def _find_next_rotation_time(self, abs_time):
if not self.trajectory.bound:
raise geom.TrajectoryError("Trajectory not bound")
orientation = self.orientation.simplified.magnitude
t = np.copy(abs_time.simplified.magnitude) * q.s
def compute_rotation_axis(current_time):
vec = self.trajectory.get_direction(current_time)
rot_ax = np.cross(orientation, vec)
return rot_ax
rot_ax = compute_rotation_axis(t)
vec = self.trajectory.get_direction(t).simplified.magnitude
angle = geom.angle(orientation, vec)
if np.all(np.isclose(rot_ax, 0)) and not (np.all(
np.isclose(vec, orientation)) or self.trajectory.stationary):
# Orientation does not coincide with trajectory direction and trajectory is not
# stationary.
dt = self.get_maximum_dt(self.trajectory.pixel_size)
t += dt
while t < self.trajectory.time and np.all(np.isclose(rot_ax, 0)):
# Orientation and trajectory direction are opposite, the angle between them is 180
# deg
rot_ax = compute_rotation_axis(t)
t += dt
if t >= self.trajectory.time:
# Orientation and trajectory direction don't deviate at all from abs_time forward,
# just use z axis
rot_ax = geom.Z_AX
return (rot_ax, angle)
def _find_next_rotation_time(self, abs_time):
if not self.trajectory.bound:
raise geom.TrajectoryError('Trajectory not bound')
orientation = self.orientation.simplified.magnitude
t = np.copy(abs_time.simplified.magnitude) * q.s
def compute_rotation_axis(current_time):
vec = self.trajectory.get_direction(current_time)
rot_ax = np.cross(orientation, vec)
return rot_ax
rot_ax = compute_rotation_axis(t)
vec = self.trajectory.get_direction(t).simplified.magnitude
angle = geom.angle(orientation, vec)
if np.all(np.isclose(rot_ax, 0)) and not (np.all(np.isclose(vec, orientation)) or
self.trajectory.stationary):
# Orientation does not coincide with trajectory direction and trajectory is not
# stationary.
dt = self.get_maximum_dt(self.trajectory.pixel_size)
t += dt
while t < self.trajectory.time and np.all(np.isclose(rot_ax, 0)):
# Orientation and trajectory direction are opposite, the angle between them is 180
# deg
rot_ax = compute_rotation_axis(t)
t += dt
if t >= self.trajectory.time:
# Orientation and trajectory direction don't deviate at all from abs_time forward,
# just use z axis
rot_ax = geom.Z_AX
return (rot_ax, angle)
def test_orthogonal_angles(self):
vectors = get_base()
pairs = (
np.array([(x, y) for x in vectors for y in vectors if np.array(x - y).any()])
* vectors.units
)
for vec_0, vec_1 in pairs:
self.assertEqual(geom.angle(vec_0, vec_1), 90 * q.deg)
def test_angle(self):
a = np.zeros((3, 2)) * q.m
a[1, 0] = 1 * q.m
a[0, 1] = 1 * q.m
a[1, 1] = 1 * q.m
v = (1, 0, 0) * q.m
gt = [np.pi / 2, np.pi / 4]
# 1D x 1D
self.assertAlmostEqual(gt[0], geom.angle(a[:, 0], v))
# 2D x 1D
np.testing.assert_almost_equal(gt, geom.angle(a, v).simplified.magnitude)
# It must work also the other way around (vector, matrix)
np.testing.assert_almost_equal(gt, geom.angle(v, a).simplified.magnitude)
# 2D x 2D array vector-wise
np.testing.assert_almost_equal([gt[1], gt[1]],
geom.angle(a, a[:, ::-1]).simplified.magnitude)
def test_rotate(self):
vec_1 = get_vec_0()
normalized = geom.normalize(vec_1)
directions = get_directions(q.dimensionless)
for direction in directions:
rot_axis = np.cross(direction, normalized) * q.dimensionless
trans_mat = geom.rotate(geom.angle(direction, normalized), rot_axis)
diff = np.sum(normalized - geom.normalize(geom.transform_vector(trans_mat, direction)))
self.assertAlmostEqual(diff, 0)
def test_rotate(self):
vec_1 = get_vec_0()
normalized = geom.normalize(vec_1)
directions = get_directions(q.dimensionless)
for direction in directions:
rot_axis = np.cross(direction, normalized) * q.dimensionless
trans_mat = geom.rotate(geom.angle(direction, normalized), rot_axis)
diff = np.sum(normalized - geom.normalize(
geom.transform_vector(trans_mat, direction)))
self.assertAlmostEqual(diff, 0)
def move(self, abs_time, clear=True):
"""Move to a position of the body in time *abs_time*. If *clear* is true clear the
transformation matrix first.
"""
if clear:
self.clear_transformation()
abs_time = abs_time.simplified
p_0 = self.trajectory.get_point(abs_time).simplified
vec = self.trajectory.get_direction(abs_time)
# First translate to the point at time abs_time
self.translate(p_0)
# Then rotate about rotation axis given by trajectory direction
# and body orientation.
rot_ax = geom.normalize(np.cross(self._orientation, vec))
angle = geom.angle(self._orientation, vec)
self.rotate(angle, rot_ax)
def test_orthogonal_angles(self):
vectors = get_base()
pairs = np.array([(x, y) for x in vectors for y in vectors if
np.array(x - y).any()]) * vectors.units
for vec_0, vec_1 in pairs:
self.assertEqual(geom.angle(vec_0, vec_1), 90 * q.deg)