def testOffsetTrajectories():
for i in range(10):
T = RandomTrajectory()
t = T.positionKeyFrames.timestamps
dt = t[1] - t[0]
p = T.position(t)
r = T.rotation(t)
offset = randomPosition()
rotationOffset = randomRotation()
oT = OffsetTrajectory(T, offset, rotationOffset)
offsetPositions = p + r.rotateVector(offset)
offsetRotations = r * rotationOffset
yield checkTrajectory, oT, TimeSeries(t,offsetPositions), TimeSeries(t, offsetRotations)
def testOffsetTrajectories():
for i in range(10):
T = RandomTrajectory()
t = T.positionKeyFrames.timestamps
dt = t[1] - t[0]
p = T.position(t)
r = T.rotation(t)
offset = randomPosition()
rotationOffset = randomRotation()
oT = OffsetTrajectory(T, offset, rotationOffset)
offsetPositions = p + r.rotateVector(offset)
offsetRotations = r * rotationOffset
yield checkTrajectory, oT, TimeSeries(t, offsetPositions), TimeSeries(
t, offsetRotations)
def testStaticTrajectory():
p = randomPosition()
r = randomRotation()
s = StaticTrajectory(p, r)
assert_equal(s.position(0), p)
assert_equal(s.velocity(0), vector(0,0,0))
assert_equal(s.acceleration(0), vector(0,0,0))
assert_equal(s.rotation(0).components, r.components)
assert_equal(s.rotationalVelocity(0), vector(0,0,0))
assert_equal(s.rotationalAcceleration(0), vector(0,0,0))
assert s.startTime == 0
assert s.endTime == np.inf
qa = s.rotation((1,2))
assert type(qa) == QuaternionArray
assert len(qa) == 2
def checkMatrixToEuler(order, degrees):
q1 = randomRotation()
m = q1.toMatrix()
e = matrixToEuler(m, order, degrees)
q2 = QuaternionFromEuler(e, order, degrees)
assertQuaternionAlmostEqual(q1,q2)