def test_rotate(self,default,update,reference_dir,Eulers):
modified = copy.deepcopy(default)
modified.rotate(Rotation.from_Eulers(Eulers,degrees=True))
tag = 'Eulers={}-{}-{}'.format(*Eulers)
reference = os.path.join(reference_dir,'rotate_{}.geom'.format(tag))
if update: modified.to_file(reference)
assert geom_equal(modified,Geom.from_file(reference))
def test_Rodrigues(self, default, normalise, P):
c = np.array([P * -1, P * -1, P * -1, 1.])
for rot in default:
m = rot.as_matrix()
o = Rotation.from_Rodrigues(rot.as_Rodrigues() * c, normalise,
P).as_matrix()
ok = np.allclose(m, o, atol=atol)
print(m, o)
assert ok and np.isclose(np.linalg.det(o), 1.0)
def test_Eulers(self, default, degrees):
for rot in default:
m = rot.as_quaternion()
o = Rotation.from_Eulers(rot.as_Eulers(degrees),
degrees).as_quaternion()
ok = np.allclose(m, o, atol=atol)
if np.isclose(rot.as_quaternion()[0], 0.0, atol=atol):
ok = ok or np.allclose(m * -1., o, atol=atol)
print(m, o, rot.as_quaternion())
assert ok and np.isclose(np.linalg.norm(o), 1.0)
def test_matrix(self, default):
for rot in default:
m = rot.as_axis_angle()
o = Rotation.from_axis_angle(rot.as_axis_angle()).as_axis_angle()
ok = np.allclose(m, o, atol=atol)
if np.isclose(m[3], np.pi, atol=atol):
ok = ok or np.allclose(
m * np.array([-1., -1., -1., 1.]), o, atol=atol)
print(m, o, rot.as_quaternion())
assert ok and np.isclose(np.linalg.norm(o[:3]),
1.0) and o[3] <= np.pi + 1.e-9
