def test_deg2quat(self):
self.assertAlmostEqual(quat.deg2quat(10), 0.087155742747658166)
result = quat.deg2quat(array([10, 170, 190, -10]))
correct = array([0.08715574, 0.9961947, -0.9961947, -0.08715574])
error = norm(result - correct)
self.assertTrue(error < self.delta)
def test_deg2quat(self):
self.assertAlmostEqual(quat.deg2quat(10), 0.087155742747658166)
result = quat.deg2quat(array([10, 170, 190, -10]))
correct = array([ 0.08715574, 0.9961947 , -0.9961947 , -0.08715574])
error = norm(result - correct)
self.assertTrue(error < self.delta)
def test_target2orient(self):
a = [1, 1, 0]
b = [1., 0, 1]
angle = 45
result = vector.target2orient(np.array([a, b]), 'Helmholtz')
correct = np.array([[0., angle, 0.], [-angle, 0., 0.]])
error = norm(result - correct)
self.assertAlmostEqual(error, 0)
result = vector.target2orient(np.array([a, b]), 'Fick')
correct = np.array([[angle, 0., 0], [0, -angle, 0.]])
error = norm(result - correct)
self.assertAlmostEqual(error, 0)
q_angle = quat.deg2quat(angle)
result = vector.target2orient(np.array([a, b]))
correct = np.array([[0, 0, q_angle], [0, -q_angle, 0.]])
error = norm(result - correct)
self.assertAlmostEqual(error, 0)
result = vector.target2orient(a)
correct = np.array([0, 0, q_angle])
error = norm(result - correct)
self.assertAlmostEqual(error, 0)
def test_target2orient(self):
a = [1,1,0]
b = [1., 0, 1]
angle = 45
result = vector.target2orient(np.array([a,b]), 'Helmholtz')
correct = np.array([[ 0., angle, 0.],
[-angle, 0., 0.]] )
error = norm(result-correct)
self.assertAlmostEqual(error, 0)
result = vector.target2orient(np.array([a,b]), 'Fick')
correct = np.array([[angle, 0., 0],
[0, -angle, 0.]] )
error = norm(result-correct)
self.assertAlmostEqual(error, 0)
q_angle = quat.deg2quat(angle)
result = vector.target2orient(np.array([a,b]))
correct = np.array([[0, 0, q_angle],
[0, -q_angle, 0.]] )
error = norm(result-correct)
self.assertAlmostEqual(error, 0)
result = vector.target2orient(a)
correct = np.array([0, 0, q_angle])
error = norm(result-correct)
self.assertAlmostEqual(error, 0)
def test_analyze3dmarkers(self):
t = np.arange(0,10,0.1)
translation = (np.c_[[1,1,0]]*t).T
M = np.empty((3,3))
M[0] = np.r_[0,0,0]
M[1]= np.r_[1,0,0]
M[2] = np.r_[1,1,0]
M -= np.mean(M, axis=0)
q = np.vstack((np.zeros_like(t), np.zeros_like(t),quat.deg2quat(100*t))).T
M0 = vector.rotate_vector(M[0], q) + translation
M1 = vector.rotate_vector(M[1], q) + translation
M2 = vector.rotate_vector(M[2], q) + translation
data = np.hstack((M0,M1,M2))
(pos, ori) = markers.analyze3Dmarkers(data, data[0])
self.assertAlmostEqual(np.max(np.abs(pos-translation)), 0)
self.assertAlmostEqual(np.max(np.abs(ori-q)), 0)
def test_analyze3dmarkers(self):
t = np.arange(0,10,0.1)
translation = (np.c_[[1,1,0]]*t).T
M = np.empty((3,3))
M[0] = np.r_[0,0,0]
M[1]= np.r_[1,0,0]
M[2] = np.r_[1,1,0]
M -= np.mean(M, axis=0)
q = np.vstack((np.zeros_like(t), np.zeros_like(t),quat.deg2quat(100*t))).T
M0 = vector.rotate_vector(M[0], q) + translation
M1 = vector.rotate_vector(M[1], q) + translation
M2 = vector.rotate_vector(M[2], q) + translation
data = np.hstack((M0,M1,M2))
(pos, ori) = markers.analyze3Dmarkers(data, data[0])
self.assertAlmostEqual(np.max(np.abs(pos-translation)), 0)
self.assertAlmostEqual(np.max(np.abs(ori-q)), 0)
