def test_distal_node_is_rotated_by_90deg_about_correct_axis(self):
h = Hinge('hinge', [0, 0, 1])
h.rp = array([3.5, 9.21, 8.6])
h.Rp = eye(3)
# Test distal transform
h.calc_distal_pos()
assert_array_equal(h.rd, h.rp)
assert_array_equal(h.Rd, h.Rp)
h.xstrain[0] = pi / 2
h.calc_distal_pos()
assert_array_equal(h.rd, h.rp) # always coincident
# New unit vectors X -> y, Y -> -x, Z -> z
assert_array_almost_equal(h.Rd, c_[[0, 1, 0], [-1, 0, 0], [0, 0, 1]])
def test_distal_node_is_rotated_by_90deg_about_correct_axis(self):
h = Hinge('hinge', [0, 0, 1])
h.rp = array([3.5, 9.21, 8.6])
h.Rp = eye(3)
# Test distal transform
h.calc_distal_pos()
assert_array_equal(h.rd, h.rp)
assert_array_equal(h.Rd, h.Rp)
h.xstrain[0] = pi / 2
h.calc_distal_pos()
assert_array_equal(h.rd, h.rp) # always coincident
# New unit vectors X -> y, Y -> -x, Z -> z
assert_array_almost_equal(h.Rd, c_[[0, 1, 0], [-1, 0, 0], [0, 0, 1]])
def test_additional_post_transform_of_90deg_is_applied(self):
h = Hinge('hinge', [0, 0, 1], post_transform=rotmat_x(pi / 2))
h.rp = array([3.5, 9.21, 8.6])
h.Rp = eye(3)
# Test distal transform with post transform
h.calc_distal_pos()
assert_array_equal(h.rd, h.rp)
# just post transform
assert_array_almost_equal(h.Rd, c_[[1, 0, 0], [0, 0, 1], [0, -1, 0]])
h.xstrain[0] = pi / 2
h.calc_distal_pos()
assert_array_equal(h.rd, h.rp) # always coincident
# rotate about z then x
assert_array_almost_equal(h.Rd, c_[[0, 1, 0], [0, 0, 1], [1, 0, 0]])
def test_additional_post_transform_of_90deg_is_applied(self):
h = Hinge('hinge', [0, 0, 1], post_transform=rotmat_x(pi / 2))
h.rp = array([3.5, 9.21, 8.6])
h.Rp = eye(3)
# Test distal transform with post transform
h.calc_distal_pos()
assert_array_equal(h.rd, h.rp)
# just post transform
assert_array_almost_equal(h.Rd, c_[[1, 0, 0], [0, 0, 1], [0, -1, 0]])
h.xstrain[0] = pi / 2
h.calc_distal_pos()
assert_array_equal(h.rd, h.rp) # always coincident
# rotate about z then x
assert_array_almost_equal(h.Rd, c_[[0, 1, 0], [0, 0, 1], [1, 0, 0]])