def test_orient_new_methods(): N = CoordSysCartesian('N') D = N.orient_new('D', 'Axis', [q4, N.j]) E = N.orient_new('E', 'Space', [q1, q2, q3], '123') F = N.orient_new('F', 'Quaternion', [q1, q2, q3, q4]) G = N.orient_new('G', 'Body', [q1, q2, q3], '123') assert D == N.orient_new_axis('D', q4, N.j) assert E == N.orient_new_space('E', q1, q2, q3, '123') assert F == N.orient_new_quaternion('F', q1, q2, q3, q4) assert G == N.orient_new_body('G', q1, q2, q3, '123')
def test_orient_new_methods(): N = CoordSysCartesian('N') orienter1 = AxisOrienter(q4, N.j) orienter2 = SpaceOrienter(q1, q2, q3, '123') orienter3 = QuaternionOrienter(q1, q2, q3, q4) orienter4 = BodyOrienter(q1, q2, q3, '123') D = N.orient_new('D', (orienter1, )) E = N.orient_new('E', (orienter2, )) F = N.orient_new('F', (orienter3, )) G = N.orient_new('G', (orienter4, )) assert D == N.orient_new_axis('D', q4, N.j) assert E == N.orient_new_space('E', q1, q2, q3, '123') assert F == N.orient_new_quaternion('F', q1, q2, q3, q4) assert G == N.orient_new_body('G', q1, q2, q3, '123')
def test_orient_new_methods(): N = CoordSysCartesian("N") orienter1 = AxisOrienter(q4, N.j) orienter2 = SpaceOrienter(q1, q2, q3, "123") orienter3 = QuaternionOrienter(q1, q2, q3, q4) orienter4 = BodyOrienter(q1, q2, q3, "123") D = N.orient_new("D", (orienter1,)) E = N.orient_new("E", (orienter2,)) F = N.orient_new("F", (orienter3,)) G = N.orient_new("G", (orienter4,)) assert D == N.orient_new_axis("D", q4, N.j) assert E == N.orient_new_space("E", q1, q2, q3, "123") assert F == N.orient_new_quaternion("F", q1, q2, q3, q4) assert G == N.orient_new_body("G", q1, q2, q3, "123")
def test_orient_new_methods(): N = CoordSysCartesian('N') orienter1 = AxisOrienter(q4, N.j) orienter2 = SpaceOrienter(q1, q2, q3, '123') orienter3 = QuaternionOrienter(q1, q2, q3, q4) orienter4 = BodyOrienter(q1, q2, q3, '123') D = N.orient_new('D', (orienter1, )) E = N.orient_new('E', (orienter2, )) F = N.orient_new('F', (orienter3, )) G = N.orient_new('G', (orienter4, )) assert D == N.orient_new_axis('D', q4, N.j) assert E == N.orient_new_space('E', q1, q2, q3, '123') assert F == N.orient_new_quaternion('F', q1, q2, q3, q4) assert G == N.orient_new_body('G', q1, q2, q3, '123')
def test_rotation_matrix(): N = CoordSysCartesian('N') A = N.orient_new('A', 'Axis', [q1, N.k]) B = A.orient_new('B', 'Axis', [q2, A.i]) C = B.orient_new('C', 'Axis', [q3, B.j]) D = N.orient_new('D', 'Axis', [q4, N.j]) E = N.orient_new('E', 'Space', [q1, q2, q3], '123') F = N.orient_new('F', 'Quaternion', [q1, q2, q3, q4]) G = N.orient_new('G', 'Body', [q1, q2, q3], '123') assert N.rotation_matrix(C) == Matrix([ [- sin(q1) * sin(q2) * sin(q3) + cos(q1) * cos(q3), - sin(q1) * cos(q2), sin(q1) * sin(q2) * cos(q3) + sin(q3) * cos(q1)], \ [sin(q1) * cos(q3) + sin(q2) * sin(q3) * cos(q1), \ cos(q1) * cos(q2), sin(q1) * sin(q3) - sin(q2) * cos(q1) * \ cos(q3)], [- sin(q3) * cos(q2), sin(q2), cos(q2) * cos(q3)]]) test_mat = D.rotation_matrix(C) - Matrix( [[cos(q1) * cos(q3) * cos(q4) - sin(q3) * (- sin(q4) * cos(q2) + sin(q1) * sin(q2) * cos(q4)), - sin(q2) * sin(q4) - sin(q1) * cos(q2) * cos(q4), sin(q3) * cos(q1) * cos(q4) + cos(q3) * \ (- sin(q4) * cos(q2) + sin(q1) * sin(q2) * cos(q4))], \ [sin(q1) * cos(q3) + sin(q2) * sin(q3) * cos(q1), cos(q1) * \ cos(q2), sin(q1) * sin(q3) - sin(q2) * cos(q1) * cos(q3)], \ [sin(q4) * cos(q1) * cos(q3) - sin(q3) * (cos(q2) * cos(q4) + \ sin(q1) * sin(q2) * \ sin(q4)), sin(q2) * cos(q4) - sin(q1) * sin(q4) * cos(q2), sin(q3) * \ sin(q4) * cos(q1) + cos(q3) * (cos(q2) * cos(q4) + \ sin(q1) * sin(q2) * sin(q4))]]) assert test_mat.expand() == zeros(3, 3) assert E.rotation_matrix(N) == Matrix( [[cos(q2)*cos(q3), sin(q3)*cos(q2), -sin(q2)], [sin(q1)*sin(q2)*cos(q3) - sin(q3)*cos(q1), \ sin(q1)*sin(q2)*sin(q3) + cos(q1)*cos(q3), sin(q1)*cos(q2)], \ [sin(q1)*sin(q3) + sin(q2)*cos(q1)*cos(q3), - \ sin(q1)*cos(q3) + sin(q2)*sin(q3)*cos(q1), cos(q1)*cos(q2)]]) assert F.rotation_matrix(N) == Matrix([[ q1**2 + q2**2 - q3**2 - q4**2, 2*q1*q4 + 2*q2*q3, -2*q1*q3 + 2*q2*q4],[ -2*q1*q4 + 2*q2*q3, q1**2 - q2**2 + q3**2 - q4**2, 2*q1*q2 + 2*q3*q4], [2*q1*q3 + 2*q2*q4, -2*q1*q2 + 2*q3*q4, q1**2 - q2**2 - q3**2 + q4**2]]) assert G.rotation_matrix(N) == Matrix([[ cos(q2)*cos(q3), sin(q1)*sin(q2)*cos(q3) + sin(q3)*cos(q1), sin(q1)*sin(q3) - sin(q2)*cos(q1)*cos(q3)], [ -sin(q3)*cos(q2), -sin(q1)*sin(q2)*sin(q3) + cos(q1)*cos(q3), sin(q1)*cos(q3) + sin(q2)*sin(q3)*cos(q1)],[ sin(q2), -sin(q1)*cos(q2), cos(q1)*cos(q2)]])
from sympy.vector.vector import Vector from sympy.vector.coordsysrect import CoordSysCartesian from sympy.vector.functions import express, matrix_to_vector from sympy import symbols, S, sin, cos, ImmutableMatrix as Matrix N = CoordSysCartesian('N') q1, q2, q3, q4, q5 = symbols('q1 q2 q3 q4 q5') A = N.orient_new('A', 'Axis', [q1, N.k]) B = A.orient_new('B', 'Axis', [q2, A.i]) C = B.orient_new('C', 'Axis', [q3, B.j]) def test_express(): assert express(Vector.zero, N) == Vector.zero assert express(S(0), N) == S(0) assert express(A.i, C) == cos(q3) * C.i + sin(q3) * C.k assert express(A.j, C) == sin(q2)*sin(q3)*C.i + cos(q2)*C.j - \ sin(q2)*cos(q3)*C.k assert express(A.k, C) == -sin(q3)*cos(q2)*C.i + sin(q2)*C.j + \ cos(q2)*cos(q3)*C.k assert express(A.i, N) == cos(q1) * N.i + sin(q1) * N.j assert express(A.j, N) == -sin(q1) * N.i + cos(q1) * N.j assert express(A.k, N) == N.k assert express(A.i, A) == A.i assert express(A.j, A) == A.j assert express(A.k, A) == A.k assert express(A.i, B) == B.i assert express(A.j, B) == cos(q2) * B.j - sin(q2) * B.k assert express(A.k, B) == sin(q2) * B.j + cos(q2) * B.k assert express(A.i, C) == cos(q3) * C.i + sin(q3) * C.k assert express(A.j, C) == sin(q2)*sin(q3)*C.i + cos(q2)*C.j - \
def test_vector(): """ Tests the effects of orientation of coordinate systems on basic vector operations. """ N = CoordSysCartesian('N') A = N.orient_new('A', 'Axis', [q1, N.k]) B = A.orient_new('B', 'Axis', [q2, A.i]) C = B.orient_new('C', 'Axis', [q3, B.j]) #Test to_matrix v1 = a*N.i + b*N.j + c*N.k assert v1.to_matrix(A) == Matrix([[ a*cos(q1) + b*sin(q1)], [-a*sin(q1) + b*cos(q1)], [ c]]) #Test dot assert N.i.dot(A.i) == cos(q1) assert N.i.dot(A.j) == -sin(q1) assert N.i.dot(A.k) == 0 assert N.j.dot(A.i) == sin(q1) assert N.j.dot(A.j) == cos(q1) assert N.j.dot(A.k) == 0 assert N.k.dot(A.i) == 0 assert N.k.dot(A.j) == 0 assert N.k.dot(A.k) == 1 assert N.i.dot(A.i + A.j) == -sin(q1) + cos(q1) == \ (A.i + A.j).dot(N.i) assert A.i.dot(C.i) == cos(q3) assert A.i.dot(C.j) == 0 assert A.i.dot(C.k) == sin(q3) assert A.j.dot(C.i) == sin(q2)*sin(q3) assert A.j.dot(C.j) == cos(q2) assert A.j.dot(C.k) == -sin(q2)*cos(q3) assert A.k.dot(C.i) == -cos(q2)*sin(q3) assert A.k.dot(C.j) == sin(q2) assert A.k.dot(C.k) == cos(q2)*cos(q3) #Test cross assert N.i.cross(A.i) == sin(q1)*A.k assert N.i.cross(A.j) == cos(q1)*A.k assert N.i.cross(A.k) == -sin(q1)*A.i - cos(q1)*A.j assert N.j.cross(A.i) == -cos(q1)*A.k assert N.j.cross(A.j) == sin(q1)*A.k assert N.j.cross(A.k) == cos(q1)*A.i - sin(q1)*A.j assert N.k.cross(A.i) == A.j assert N.k.cross(A.j) == -A.i assert N.k.cross(A.k) == Vector.zero assert N.i.cross(A.i) == sin(q1)*A.k assert N.i.cross(A.j) == cos(q1)*A.k assert N.i.cross(A.i + A.j) == sin(q1)*A.k + cos(q1)*A.k assert (A.i + A.j).cross(N.i) == (-sin(q1) - cos(q1))*N.k assert A.i.cross(C.i) == sin(q3)*C.j assert A.i.cross(C.j) == -sin(q3)*C.i + cos(q3)*C.k assert A.i.cross(C.k) == -cos(q3)*C.j assert C.i.cross(A.i) == (-sin(q3)*cos(q2))*A.j + \ (-sin(q2)*sin(q3))*A.k assert C.j.cross(A.i) == (sin(q2))*A.j + (-cos(q2))*A.k assert express(C.k.cross(A.i), C).trigsimp() == cos(q3)*C.j