def test_from_frame(): f1 = Frame([2, 2, 2], [0.12, 0.58, 0.81], [-0.80, 0.53, -0.26]) f2 = Frame([1, 1, 1], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15]) T = Transformation.from_frame_to_frame(f1, f2) f1.transform(T) assert f1 == f2
f1 = Frame([1, 1, 1], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15]) T = Transformation.from_frame(f1) f2 = Frame.from_transformation(T) print(f1 == f2) f = Frame([1, 1, 1], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15]) T = Transformation.from_frame(f) Tinv = T.inverse() I = Transformation() print(I == T * Tinv) f1 = Frame([2, 2, 2], [0.12, 0.58, 0.81], [-0.80, 0.53, -0.26]) f2 = Frame([1, 1, 1], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15]) T = Transformation.from_frame_to_frame(f1, f2) f1.transform(T) print(f1 == f2) f = Frame([1, 1, 1], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15]) T = Transformation.from_frame(f) p = Point(0, 0, 0) p.transform(T) print(allclose(f.point, p)) f1 = Frame([1, 1, 1], [0.68, 0.68, 0.27], [-0.67, 0.73, -0.15]) T = Transformation.from_frame(f1) points = [[1.0, 1.0, 1.0], [1.68, 1.68, 1.27], [0.33, 1.73, 0.85]] points = transform_points(points, T) trans1 = [1, 2, 3] angle1 = [-2.142, 1.141, -0.142]