def test_from_euler_angles():
ea1 = 1.4, 0.5, 2.3
args = False, 'xyz'
R1 = Rotation.from_euler_angles(ea1, *args)
ea2 = R1.euler_angles(*args)
assert allclose(ea1, ea2)
alpha, beta, gamma = ea1
xaxis, yaxis, zaxis = [1, 0, 0], [0, 1, 0], [0, 0, 1]
Rx = Rotation.from_axis_and_angle(xaxis, alpha)
Ry = Rotation.from_axis_and_angle(yaxis, beta)
Rz = Rotation.from_axis_and_angle(zaxis, gamma)
R2 = Rx * Ry * Rz
assert np.allclose(R1, R2)
def test_axis_and_angle():
axis1 = normalize_vector([-0.043, -0.254, 0.617])
angle1 = 0.1
R = Rotation.from_axis_and_angle(axis1, angle1)
axis2, angle2 = R.axis_and_angle
assert allclose(axis1, axis2)
assert allclose([angle1], [angle2])
def test_basis_vectors():
ea1 = 1.4, 0.5, 2.3
args = False, 'xyz'
R1 = Rotation.from_euler_angles(ea1, *args)
R2 = [[-0.5847122176808724, -0.18803656702967916, 0.789147560317086],
[-0.6544178905170501, -0.4655532858863264, -0.5958165511058404]]
assert np.allclose(R1.basis_vectors, R2)
def concatenate():
trans1 = [1, 2, 3]
angle1 = [-2.142, 1.141, -0.142]
T1 = Translation(trans1)
R1 = Rotation.from_euler_angles(angle1)
M1 = T1.concatenate(R1)
assert np.allclose(M1, T1 * R1)
def test_from_basis_vectors():
xaxis = [0.68, 0.68, 0.27]
yaxis = [-0.67, 0.73, -0.15]
R = Rotation.from_basis_vectors(xaxis, yaxis)
r = [[0.6807833515407016, -0.6687681611113407, -0.29880282253789103, 0.0],
[0.6807833515407016, 0.7282315114847181, -0.07882160714891209, 0.0],
[0.2703110366411609, -0.14975954908850603, 0.9510541192112079, 0.0],
[0.0, 0.0, 0.0, 1.0]]
assert np.allclose(R, r)
def test_rotation():
angle1 = [-2.142, 1.141, -0.142]
R = Rotation.from_euler_angles(angle1)
r = [[0.41249169135312663, -0.8335562904208867, -0.3674704277413451, 0.0],
[-0.05897071585157175, -0.4269749553355485, 0.9023385407861949, 0.0],
[
-0.9090506362335324, -0.35053715668381935, -0.22527903264048646,
0.0
], [0.0, 0.0, 0.0, 1.0]]
assert np.allclose(R, r)
def test_decomposed():
trans1 = [1, 2, 3]
angle1 = [-2.142, 1.141, -0.142]
scale1 = [0.123, 2, 0.5]
T1 = Translation(trans1)
R1 = Rotation.from_euler_angles(angle1)
S1 = Scale(scale1)
M = (T1 * R1) * S1
Sc, Sh, R, T, P = M.decomposed()
assert S1 == Sc
assert R1 == R
assert T1 == T
def test_basis_vectors():
trans1 = [1, 2, 3]
angle1 = [-2.142, 1.141, -0.142]
scale1 = [0.123, 2, 0.5]
T1 = Translation(trans1)
R1 = Rotation.from_euler_angles(angle1)
S1 = Scale(scale1)
M = (T1 * R1) * S1
x, y = M.basis_vectors
assert np.allclose(
x,
Vector(0.41249169135312663, -0.05897071585157175, -0.9090506362335324))
assert np.allclose(
y,
Vector(-0.8335562904208867, -0.4269749553355485, -0.35053715668381935))
def decomposed(self):
"""Decompose the ``Transformation`` into its ``Scale``, ``Shear``,
``Rotation``, ``Translation`` and ``Perspective`` components.
Returns
-------
5-tuple of Transformation
The scale, shear, rotation, tranlation, and projection components
of the current transformation.
Examples
--------
>>> trans1 = [1, 2, 3]
>>> angle1 = [-2.142, 1.141, -0.142]
>>> scale1 = [0.123, 2, 0.5]
>>> T1 = Translation(trans1)
>>> R1 = Rotation.from_euler_angles(angle1)
>>> S1 = Scale(scale1)
>>> M = (T1 * R1) * S1
>>> Sc, Sh, R, T, P = M.decomposed()
>>> S1 == Sc
True
>>> R1 == R
True
>>> T1 == T
True
"""
from compas.geometry.transformations import Scale # noqa: F811
from compas.geometry.transformations import Shear
from compas.geometry.transformations import Rotation # noqa: F811
from compas.geometry.transformations import Translation # noqa: F811
from compas.geometry.transformations import Projection
sc, sh, a, t, p = decompose_matrix(self.matrix)
Sc = Scale(sc)
Sh = Shear.from_entries(sh)
R = Rotation.from_euler_angles(a, static=True, axes='xyz')
T = Translation(t)
P = Projection.from_entries(p)
return Sc, Sh, R, T, P
def R():
return Rotation.from_euler_angles([90, 0, 0])
def test_euler_angles():
ea1 = 1.4, 0.5, 2.3
args = False, 'xyz'
R1 = Rotation.from_euler_angles(ea1, *args)
ea2 = R1.euler_angles(*args)
assert allclose(ea1, ea2)
def test_axis_angle_vector():
aav1 = [-0.043, -0.254, 0.617]
R = Rotation.from_axis_angle_vector(aav1)
aav2 = R.axis_angle_vector
assert allclose(aav1, aav2)
def test_quaternion():
q1 = [0.945, -0.021, -0.125, 0.303]
R = Rotation.from_quaternion(q1)
q2 = R.quaternion
assert allclose(q1, q2, tol=1e-3)