def test_u2Ux2u():
Ntests = 1
for i in range(Ntests):
ugood = np.random.rand(3)
Ux = Compute.u2Ux(ugood)
utest = Compute.Ux2u(Ux)
np.testing.assert_almost_equal(utest, ugood)
def r(self, value):
self.validation.rsetter(self, value)
if len(value) == 2:
angle, direction = value
self.R = Compute.R(angle, direction)
else:
self.R = Compute.r2R(value)
def test_R2r_random():
Ntests = 1000
for i in range(Ntests):
angle = randomNumberBetween(-np.pi, np.pi)
u = getRandomUnit3DVector()
rgood = angle * u
R = Compute.R(angle, u)
rtest = Compute.R2r(R)
np.testing.assert_almost_equal(rtest, rgood)
def test_r2R_random():
Ntests = 100
for i in range(Ntests):
angle = randomNumberBetween(-np.pi, np.pi)
u = getRandomUnit3DVector()
r = angle * u
Rgood = Compute.R(angle, u)
Rtest = Compute.r2R(r)
np.testing.assert_almost_equal(Rtest, Rgood)
def test_R_random():
Ntests = 100
angle = 0
for i in range(Ntests):
u = getRandomUnit3DVector()
R = Compute.R(angle, u)
np.testing.assert_almost_equal(R, np.eye(3))
for i in range(Ntests):
angle = randomNumberBetween(-np.pi, np.pi)
u = getRandomUnit3DVector()
R = Compute.R(angle, u)
RT = np.transpose(R)
M = np.dot(R, RT)
np.testing.assert_almost_equal(M, np.eye(3))
def test_u2Ux():
u = np.zeros(3)
Uxgood = np.zeros((3, 3))
Uxtest = Compute.u2Ux(u)
np.testing.assert_almost_equal(Uxtest, Uxgood)
u = (-1, -1, -1)
Uxgood = ((0, 1, -1), (-1, 0, 1), (1, -1, 0))
Uxtest = Compute.u2Ux(u)
np.testing.assert_almost_equal(Uxtest, Uxgood)
u = (-1, 1, -1)
Uxgood = ((0, 1, 1), (-1, 0, 1), (-1, -1, 0))
Uxtest = Compute.u2Ux(u)
np.testing.assert_almost_equal(Uxtest, Uxgood)
u = (7, 2, 5)
Uxgood = ((0, -5, 2), (5, 0, -7), (-2, 7, 0))
Uxtest = Compute.u2Ux(u)
np.testing.assert_almost_equal(Uxtest, Uxgood)
def test_Ux2u():
Ux = np.zeros((3, 3))
ugood = np.zeros(3)
utest = Compute.Ux2u(Ux)
np.testing.assert_almost_equal(utest, ugood)
Ux = ((0, 1, -1), (-1, 0, 1), (1, -1, 0))
ugood = (-1, -1, -1)
utest = Compute.Ux2u(Ux)
np.testing.assert_almost_equal(utest, ugood)
Ux = ((0, 1, 1), (-1, 0, 1), (-1, -1, 0))
ugood = (-1, 1, -1)
utest = Compute.Ux2u(Ux)
np.testing.assert_almost_equal(utest, ugood)
Ux = ((0, -5, 2), (5, 0, -7), (-2, 7, 0))
ugood = (7, 2, 5)
utest = Compute.Ux2u(Ux)
np.testing.assert_almost_equal(utest, ugood)
def test_R_standard():
angle = np.pi / 2
u = (1, 0, 0)
Rgood = ((1, 0, 0), (0, 0, -1), (0, 1, 0))
Rtest = Compute.R(angle, u)
np.testing.assert_almost_equal(Rtest, Rgood)
angle = np.pi
u = (1, 0, 0)
Rgood = ((1, 0, 0), (0, -1, 0), (0, 0, -1))
Rtest = Compute.R(angle, u)
np.testing.assert_almost_equal(Rtest, Rgood)
angle = np.pi / 2
u = (0, 1, 0)
Rgood = ((0, 0, 1), (0, 1, 0), (-1, 0, 0))
Rtest = Compute.R(angle, u)
np.testing.assert_almost_equal(Rtest, Rgood)
angle = np.pi
u = (0, 1, 0)
Rgood = ((-1, 0, 0), (0, 1, 0), (0, 0, -1))
Rtest = Compute.R(angle, u)
np.testing.assert_almost_equal(Rtest, Rgood)
angle = np.pi / 2
u = (0, 0, 1)
Rgood = ((0, -1, 0), (1, 0, 0), (0, 0, 1))
Rtest = Compute.R(angle, u)
np.testing.assert_almost_equal(Rtest, Rgood)
angle = np.pi
u = (0, 0, 1)
Rgood = ((-1, 0, 0), (0, -1, 0), (0, 0, 1))
Rtest = Compute.R(angle, u)
np.testing.assert_almost_equal(Rtest, Rgood)
def test_R2r_standard():
R = np.eye(3)
rgood = np.zeros(3)
rtest = Compute.R2r(R)
np.testing.assert_almost_equal(rtest, rgood)
def test_r2R_standard():
r = np.zeros(3)
Rgood = np.eye(3)
Rtest = Compute.r2R(r)
np.testing.assert_almost_equal(Rtest, Rgood)
def Q(self):
if self.q is None:
return None
return Compute.q2Q(self.q)
def W(self):
if self.w is None:
return None
return Compute.w2W(self.w)
def r(self):
if self.R is None:
return None
return Compute.R2r(self.R)
def Q(self, value):
self.validation.Qsetter(self, value)
self.q = Compute.Q2q(value)
def W(self, value):
self.validation.Wsetter(self, value)
self.w = Compute.W2w(value)