def test_applyQuaternion04(self):
"""applyQuaternion04 -- random pts 360 about random-axis"""
state = StateToCoords(self.random_points, tolist=1)
q = RandomArray.uniform(self.min, self.max, (4, ))
q[3] = 360.0
result = state.applyQuaternion(q)
self.assertArrayEqual(self.random_points, result)
def test_applyQuaternion05(self):
"""applyQuaternion05 -- random pts 3*120 about x-axis"""
state = StateToCoords(self.random_points, tolist=1)
q = (0.0, 0.0, 1.0, 120.0)
for n in range(3):
result = state.applyQuaternion(q)
self.assertArrayEqual(self.random_points, result, 0)
def test_applyQuaternion05(self):
"""applyQuaternion05 -- random pts 3*120 about x-axis"""
state = StateToCoords(self.random_points, tolist=1)
q = (0.0, 0.0, 1.0, 120.0)
for n in xrange(3):
result = state.applyQuaternion(q)
self.assertArrayEqual(self.random_points, result,0)
def test_applyQuaternion04(self):
"""applyQuaternion04 -- random pts 360 about random-axis"""
state = StateToCoords(self.random_points, tolist=1)
q = RandomArray.uniform(self.min, self.max, (4,))
q[3] = 360.0
result = state.applyQuaternion(q)
self.assertArrayEqual(self.random_points, result)
def test_applyQuaternion06(self):
"""applyQuaternion06 -- random pts 2*180 about random-axis"""
state = StateToCoords(self.random_points, tolist=1)
q = RandomArray.uniform(self.min, self.max, (4, ))
q[3] = 180.0
for n in range(2):
result = state.applyQuaternion(q)
self.assertArrayEqual(self.random_points, result)
def test_applyQuaternion03(self):
"""applyQuaternion02 -- known pts 90 about z-axis"""
state = StateToCoords(self.known_points, tolist=1)
result = state.applyQuaternion((0.0, 0.0, 1.0, 90.0))
expected = [[0., 1., 2.], [0., 1., 1.], [-1., 1., 1.], [0., 0., 1.],
[0., 0., 0.], [-1., 0., 0.], [-1., 0., -1.],
[-1., 1., -1.], [-2., 1., -1.], [-1., 1., -2.]]
self.assertArrayEqual(expected, result)
def test_applyQuaternion021(self):
"""applyQuaternion021 -- known pts 90 about x-axis; origin(1., 0., 1.)"""
state = StateToCoords(self.known_points, tolist=1)
result = state.applyQuaternion((1.0, 0.0, 0.0, 90.0), (1., 0., 1.))
expected = [[1., -1., 1.], [1., 0., 1.], [1., 0., 2.], [0., 0., 1.],
[0., 1., 1.], [0., 1., 2.], [0., 2., 2.], [1., 2., 2.],
[1., 2., 3.], [1., 3., 2.]]
self.assertArrayEqual(expected, result)
def test_applyQuaternion06(self):
"""applyQuaternion06 -- random pts 2*180 about random-axis"""
state = StateToCoords(self.random_points, tolist=1)
q = RandomArray.uniform(self.min, self.max, (4,))
q[3] = 180.0
for n in xrange(2):
result = state.applyQuaternion(q)
self.assertArrayEqual(self.random_points, result)
def test_applyQuaternion03(self):
"""applyQuaternion02 -- known pts 90 about z-axis"""
state = StateToCoords(self.known_points, tolist=1)
result = state.applyQuaternion((0.0, 0.0, 1.0, 90.0))
expected = [[ 0., 1., 2.],
[ 0., 1., 1.],
[-1., 1., 1.],
[ 0., 0., 1.],
[ 0., 0., 0.],
[-1., 0., 0.],
[-1., 0., -1.],
[-1., 1., -1.],
[-2., 1., -1.],
[-1., 1., -2.]]
self.assertArrayEqual(expected, result)
def test_applyQuaternion021(self):
"""applyQuaternion021 -- known pts 90 about x-axis; origin(1., 0., 1.)"""
state = StateToCoords(self.known_points, tolist=1)
result = state.applyQuaternion((1.0, 0.0, 0.0, 90.0), (1., 0., 1.))
expected = [[1., -1., 1.],
[1., 0., 1.],
[1., 0., 2.],
[0., 0., 1.],
[0., 1., 1.],
[0., 1., 2.],
[0., 2., 2.],
[1., 2., 2.],
[1., 2., 3.],
[1., 3., 2.]]
self.assertArrayEqual(expected, result)
def test_applyQuaternion01(self):
"""applyQuaternion01 -- known pts 360 about x-axis"""
state = StateToCoords(self.known_points, tolist=1)
result = state.applyQuaternion((1.0, 0.0, 0.0, 360.0))
self.assertArrayEqual(self.known_points, result)
def test_applyQuaternion01(self):
"""applyQuaternion01 -- known pts 360 about x-axis"""
state = StateToCoords(self.known_points, tolist=1)
result = state.applyQuaternion((1.0, 0.0, 0.0, 360.0))
self.assertArrayEqual(self.known_points, result)
