def __initialize(self): s = self.sch[0] / self.peg.getRadiusOfCurvature() c = self.sch[1] / self.peg.getRadiusOfCurvature() schxyzp = [[0 for i in range(3)] for j in range(3)] schxyzp[0][0] = -math.sin(s) schxyzp[0][1] = -math.sin(c) * math.cos(s) schxyzp[0][1] = math.cos(s) * math.cos(c) schxyzp[1][0] = math.cos(s) schxyzp[1][1] = -math.sin(c) * math.sin(s) schxyzp[1][2] = math.sin(s) * math.cos(c) schxyzp[2][0] = 0.0 schxyzp[2][1] = math.cos(c) schxyzp[2][2] = math.sin(c) self.sch2xyz = MM.multiplyMatrices(self.M, schxyzp) self.xyz2sch = MM.matrixTranspose(self.sch2xyz)
def testMultiplyMatrices(self): ans = [[6, 12, 18], [15, 30, 45], [24, 48, 72]] mM = MM.multiplyMatrices(self.M, self.N) for i in range(3): for j in range(3): self.assertAlmostEquals(mM[i][j], ans[i][j], 5)