def test_transform_matrix(self):
""" Tests that transform() on matrix returns a 4x4 matrix, always """
arr3, arr4 = np.random.random((3, 3)), np.random.random((4, 4))
mat3, mat4 = np.eye(3), np.eye(4)
for mat, arr in product([mat3, mat4], [arr3, arr4]):
self.assertSequenceEqual(tr.transform(mat, arr).shape, (4, 4))
def test_transform_vector(self):
""" Tests that transform() on vector returns a vector """
vec = np.random.random((3,))
# Test for vector of length 3
mat3, mat4 = np.eye(3), np.eye(4)
for mat in [mat3, mat4]:
self.assertSequenceEqual(vec.shape, tr.transform(mat, vec).shape)
def test_random(self):
""" Test that translation_rotation_matrix() produces a matrix that correctly
transforms a random point """
pt = np.random.random((3,))
axis = np.random.random((3,))
angle = np.random.random()
translation = np.random.random((3,))
trmat = tr.translation_rotation_matrix(angle, axis, translation=translation)
v1 = tr.transform(trmat, pt) # translated rotated point
# Transform the point once operator at a time
v2 = tr.transform(tr.rotation_matrix(angle, axis), pt)
v2 += translation
self.assertTrue(np.allclose(v1, v2))
def test_transform_vector():
""" Tests that transform() on vector returns a vector """
vec = np.random.random((3, ))
# Test for vector of length 3
mat3, mat4 = np.eye(3), np.eye(4)
for mat in [mat3, mat4]:
assert vec.shape == tr.transform(mat, vec).shape
def test_random(self):
""" Tests that translation_matrix() has the same effect on a point
as directly translating."""
pt = np.random.random((3,))
translation = np.random.random((3,))
mat = tr.translation_matrix(translation)
transformed = tr.transform(mat, pt)
self.assertTrue(np.allclose(pt + translation, transformed))
