def test_dcm_loop(self):
latitude = np.linspace(-np.pi/2, np.pi/2, 10)
longitude = np.linspace(-np.pi, np.pi, 10)
for lat, lon in zip(latitude, longitude):
dcm_expected = rot2(np.pi/2 - lat, 'r').dot(rot3(lon, 'r'))
dcm = transform.dcm_ecef2sez(lat, lon)
np.testing.assert_allclose(dcm, dcm_expected)
def test_so3(self):
latgd = np.random.uniform(-np.pi/2, np.pi/2)
lon = np.random.uniform(-np.pi, np.pi)
alt = 0
dcm = transform.dcm_ecef2sez(latgd, lon, alt)
np.testing.assert_allclose(np.linalg.det(dcm), 1)
np.testing.assert_array_almost_equal(dcm.T.dot(dcm), np.eye(3,3))
def test_inverse_identity(self):
latgd = np.random.uniform(-np.pi/2, np.pi/2)
lon = np.random.uniform(-np.pi, np.pi)
alt = 0
dcm = transform.dcm_ecef2sez(latgd, lon, alt)
dcm_opp = transform.dcm_sez2ecef(latgd, lon, alt)
np.testing.assert_allclose(dcm.T, dcm_opp)
def test_dcm_loop(self):
latitude = np.linspace(-np.pi / 2, np.pi / 2, 10)
longitude = np.linspace(-np.pi, np.pi, 10)
for lat, lon in zip(latitude, longitude):
dcm_expected = rot2(np.pi / 2 - lat, 'r').dot(rot3(lon, 'r'))
dcm = transform.dcm_ecef2sez(lat, lon)
np.testing.assert_allclose(dcm, dcm_expected)
def test_inverse_identity(self):
latgd = np.random.uniform(-np.pi / 2, np.pi / 2)
lon = np.random.uniform(-np.pi, np.pi)
alt = 0
dcm = transform.dcm_ecef2sez(latgd, lon, alt)
dcm_opp = transform.dcm_sez2ecef(latgd, lon, alt)
np.testing.assert_allclose(dcm.T, dcm_opp)
def test_so3(self):
latgd = np.random.uniform(-np.pi / 2, np.pi / 2)
lon = np.random.uniform(-np.pi, np.pi)
alt = 0
dcm = transform.dcm_ecef2sez(latgd, lon, alt)
np.testing.assert_allclose(np.linalg.det(dcm), 1)
np.testing.assert_array_almost_equal(dcm.T.dot(dcm), np.eye(3, 3))
def test_equator_prime_meridian(self):
latgd = 0
lon = 0
alt = 0
dcm_expected = np.array([[0, 0, -1], [0, 1, 0], [1, 0, 0]])
dcm = transform.dcm_ecef2sez(latgd, lon, alt)
np.testing.assert_array_almost_equal(dcm, dcm_expected)
def test_equator_prime_meridian(self):
latgd = 0
lon = 0
alt = 0
dcm_expected = np.array([[0, 0, -1],
[0, 1, 0],
[1, 0, 0]])
dcm = transform.dcm_ecef2sez(latgd, lon, alt)
np.testing.assert_array_almost_equal(dcm, dcm_expected)