def test_up_down(self, rng): # noqa: F811
from clifford.dpga import up, down
for i in range(10 if numba.config.DISABLE_JIT else 1000):
p = rng.standard_normal(3)
dpga_pnt = up(p)
pnt_down = down(np.random.rand() * dpga_pnt)
np.testing.assert_allclose(pnt_down, p)
def test_up_down(self):
from clifford.dpga import up, down
rng = np.random.RandomState() # can pass a seed here later
for i in range(10 if numba.config.DISABLE_JIT else 1000):
p = rng.standard_normal(3)
dpga_pnt = up(p)
pnt_down = down(np.random.rand() * dpga_pnt)
np.testing.assert_allclose(pnt_down, p)
def test_rotate(self):
from clifford.dpga import w0, w1, w2, w3, w1s, w2s, w3s
from clifford.dpga import up, down
rng = np.random.RandomState() # can pass a seed here later
for i in range(10 if numba.config.DISABLE_JIT else 100):
mvec = rng.standard_normal(3)
nvec = rng.standard_normal(3)
m = mvec[0] * w1 + mvec[1] * w2 + mvec[2] * w3
n = nvec[0] * w1 + nvec[1] * w2 + nvec[2] * w3
ms = mvec[0] * w1s + mvec[1] * w2s + mvec[2] * w3s
ns = nvec[0] * w1s + nvec[1] * w2s + nvec[2] * w3s
biv = 2 * ((ms ^ n) - (ns ^ m))
Rt = np.e**(-biv)
# Rotor should be unit
np.testing.assert_allclose((Rt * ~Rt).value, (1 + 0 * w1).value,
atol=1E-4)
# The origin should be unaffected by rotation
np.testing.assert_allclose((Rt * w0 * ~Rt).value,
w0.value,
atol=1E-4)
# Vectors orthogonal to the rotation should be unaffected by rotation
vorthog = np.cross(mvec, nvec)
uporthog = up(vorthog)
np.testing.assert_allclose((Rt * uporthog * ~Rt).value,
uporthog.value,
atol=1E-4)
# Points should maintain their distance from the origin
pnt_vec = rng.standard_normal(3)
l = np.linalg.norm(pnt_vec)
pnt = up(pnt_vec)
lres = np.linalg.norm(down(Rt * pnt * ~Rt))
np.testing.assert_allclose(l, lres, atol=1E-6)
def test_line(self):
from clifford.dpga import w0, w1, w2, w3, w0s
from clifford.dpga import e12, e13, e23, e1b2b, e1b3b, e2b3b
from clifford.dpga import up, down
rng = np.random.RandomState() # can pass a seed here later
for i in range(5 if numba.config.DISABLE_JIT else 100):
p1vec = rng.standard_normal(3)
p2vec = rng.standard_normal(3)
p1 = up(p1vec)
p2 = up(p2vec)
line_direc = p2vec - p1vec
# Plucker line is the outer product of two points or the outer product
# of a point and a free vector
line = p1 ^ p2
free_direc = line_direc[0] * w1 + line_direc[1] * w2 + line_direc[
2] * w3
line_alt = p1 ^ free_direc
assert line_alt == line
# The line should be the outer product null space
lamb = rng.standard_normal()
assert up(lamb * p1vec + (1 - lamb) * p2vec) ^ line == 0
# Lines can be transformed with rotors
tvec = p1vec
wt = tvec[0] * w1 + tvec[1] * w2 + tvec[2] * w3
Raxis = 1 - w0s * wt
assert (~Raxis * line * Raxis) ^ w0 == 0
# Lines are invariant to screw transformations about their axis
axis = p1vec - p2vec
rotation_biv = axis[0] * (e23 - e2b3b) + axis[1] * (
e1b3b - e13) + axis[2] * (e12 - e1b2b)
Rr = np.e**(-rng.standard_normal() * rotation_biv)
Rt = 1 - w0s * rng.standard_normal() * (
axis[0] * w1 + axis[1] * w2 + axis[2] * w3)
np.testing.assert_allclose(
(Raxis * Rr * Rt * (~Raxis * line * Raxis) * ~Rt * ~Rr *
~Raxis).value,
line.value,
rtol=1E-4,
atol=1E-4)
# A bivector line is invariant under its own exponential
Rline = np.e**line
assert Rline * line * ~Rline == line
# The exponential of a line is a rotation about the line
line_origin = (~Raxis * line * Raxis)
RLineOrigin = np.e**line_origin
random_pnt = up(rng.standard_normal(3))
np.testing.assert_allclose(np.linalg.norm(
down(RLineOrigin * random_pnt * ~RLineOrigin)),
np.linalg.norm(down(random_pnt)),
rtol=1E-3,
atol=1E-4)
np.testing.assert_allclose(
down(RLineOrigin * (random_pnt + free_direc) * ~RLineOrigin),
down(RLineOrigin * random_pnt * ~RLineOrigin) + line_direc,
rtol=1E-3,
atol=1E-4)
np.testing.assert_allclose((Rline * ~Rline).value,
(1 + 0 * w1).value,
rtol=1E-4,
atol=1E-4)