def test_basic_3d_rotation():
a = np.sqrt(3.0) / 2.0
b = 0.5
# this is a rotation of -30 degrees about the x axis
rotation_matrix = np.array([[1, 0, 0], [0, a, b], [0, -b, a]])
rotation = Rotation(rotation_matrix)
starting_vector = np.array([0, 1, 0])
transformed = rotation.apply(starting_vector)
assert_allclose(np.array([0, a, -b]), transformed)
def test_align_2d_rotation():
rotation_matrix = np.array([[0, 1], [-1, 0]])
rotation = Rotation(rotation_matrix)
source = PointCloud(np.array([[0, 1], [1, 1], [-1, -5], [3, -5]]))
target = rotation.apply(source)
# estimate the transform from source and target
estimate = AlignmentRotation(source, target)
# check the estimates is correct
assert_allclose(rotation.h_matrix, estimate.h_matrix, atol=1e-14)
def test_align_2d_rotation_set_h_matrix_raises_notimplemented_error():
rotation_matrix = np.array([[0, 1], [-1, 0]])
rotation = Rotation(rotation_matrix)
source = PointCloud(np.array([[0, 1], [1, 1], [-1, -5], [3, -5]]))
target = rotation.apply(source)
# estimate the transform from source and source
estimate = AlignmentRotation(source, source)
# and set the target
estimate.set_h_matrix(rotation.h_matrix)
def test_align_2d_rotation_set_h_matrix_raises_notimplemented_error():
rotation_matrix = np.array([[0, 1], [-1, 0]])
rotation = Rotation(rotation_matrix)
source = PointCloud(np.array([[0, 1], [1, 1], [-1, -5], [3, -5]]))
target = rotation.apply(source)
# estimate the transform from source and source
estimate = AlignmentRotation(source, source)
# and set the target
estimate.set_h_matrix(rotation.h_matrix)
def test_align_2d_rotation():
rotation_matrix = np.array([[0, 1], [-1, 0]])
rotation = Rotation(rotation_matrix)
source = PointCloud(np.array([[0, 1], [1, 1], [-1, -5], [3, -5]]))
target = rotation.apply(source)
# estimate the transform from source and target
estimate = AlignmentRotation(source, target)
# check the estimates is correct
assert_allclose(rotation.h_matrix, estimate.h_matrix, atol=1e-14)
def test_basic_3d_rotation():
a = np.sqrt(3.0)/2.0
b = 0.5
# this is a rotation of -30 degrees about the x axis
rotation_matrix = np.array([[1, 0, 0],
[0, a, b],
[0, -b, a]])
rotation = Rotation(rotation_matrix)
starting_vector = np.array([0, 1, 0])
transformed = rotation.apply(starting_vector)
assert_allclose(np.array([0, a, -b]), transformed)
def test_basic_2d_rotation():
rotation_matrix = np.array([[0, 1],
[-1, 0]])
rotation = Rotation(rotation_matrix)
assert_allclose(np.array([0, -1]), rotation.apply(np.array([1, 0])))
