def test_keep_link():
points = np.arange(200 * 3).reshape(200, 3)
keep_link = tf.Translation((0, 1, 0))
link = tf.CompundLink([
tf.Translation((1, 0, 0)),
tf.CompundLink([keep_link]),
tf.EulerRotation("Y", -90, degrees=True),
])
simplified_links = tf.simplify_links([link], keep_links=[keep_link])
assert keep_link in simplified_links
expected = link.transform(points)
result = points
for link in simplified_links:
result = link.transform(result)
assert np.allclose(result, expected)
keep_link = tf.Translation((0, 1, 0))
original_link = tf.CompundLink([
tf.Translation((1, 0, 0)),
tf.CompundLink([tf.InvertLink(keep_link)]),
tf.EulerRotation("Y", -90, degrees=True),
])
simplified_links = tf.simplify_links([original_link],
keep_links=[keep_link])
for link in simplified_links:
if isinstance(link, tf.InvertLink):
if link._forward_link is keep_link:
break
else:
raise AssertionError("`keep_link` no longer in link chain.")
expected = original_link.transform(points)
result = points
for link in simplified_links:
result = link.transform(result)
assert np.allclose(result, expected)
keep_link = tf.Translation((0, 1, 0))
original_link = tf.CompundLink([
tf.Translation((1, 0, 0)),
tf.Translation((1, 1, 0)),
keep_link,
tf.EulerRotation("Y", -90, degrees=True),
])
simplified_links = tf.simplify_links([original_link],
keep_links=[keep_link])
assert keep_link in simplified_links
expected = original_link.transform(points)
result = points
for link in simplified_links:
result = link.transform(result)
assert np.allclose(result, expected)
def test_identity_drops():
link = tf.Rotation((1, 0, 0), (0, 1, 0))
link.angle = 0
simplified_links = tf.simplify_links([link])
assert len(simplified_links) == 0
link = tf.EulerRotation("XYZ", (0, 0, 0))
simplified_links = tf.simplify_links([link])
assert len(simplified_links) == 0
link = tf.Translation((1, 2, 3), amount=0)
simplified_links = tf.simplify_links([link])
assert len(simplified_links) == 0
def test_keep_joints():
points = np.arange(200 * 3).reshape(200, 3)
joint1 = tf.RotationalJoint((0, 1, 0))
joint2 = tf.PrismaticJoint((1, 0, 0))
links: List[tf.Link] = [
tf.Rotation((1, 0, 0), (0, 1, 0)),
tf.Translation((1, 0, 0)),
joint1,
tf.Translation((1, 1, 0)),
tf.Translation((1, 1, 1)),
tf.InvertLink(joint2),
]
simplified_links = tf.simplify_links(links, keep_joints=True)
expected = points
for link in links:
expected = link.transform(expected)
result = points
for link in simplified_links:
result = link.transform(result)
assert np.allclose(result, expected)
assert joint1 in simplified_links
assert joint2 is simplified_links[-1]._forward_link
def test_inverse_links():
points = np.arange(200 * 3).reshape(200, 3)
# --- test double_inverse ---
link = tf.InvertLink(tf.InvertLink(tf.Translation((1, 0, 0))))
simplified = tf.simplify_links([link])[0]
assert isinstance(simplified, tf.Translation)
expected = link.transform(points)
result = simplified.transform(points)
assert np.allclose(result, expected)
# --- test translation unwrapping ---
link = tf.InvertLink(tf.Translation((1, 0, 0)))
simplified = tf.simplify_links([link])[0]
assert isinstance(simplified, tf.Translation)
expected = link.transform(points)
result = simplified.transform(points)
assert np.allclose(result, expected)
# --- test rotation unwrapping ---
link = tf.InvertLink(tf.EulerRotation("X", np.pi / 2))
simplified = tf.simplify_links([link])[0]
assert isinstance(simplified, tf.Rotation)
expected = link.transform(points)
result = simplified.transform(points)
assert np.allclose(result, expected)
# --- test compound unpacking ---
link = tf.InvertLink(
tf.CompundLink([tf.Translation((1, 0, 0)),
tf.Translation((0, 1, 0))]))
simplified_links = tf.simplify_links([link])
expected = link.transform(points)
result = points
for link in simplified_links:
result = link.transform(result)
assert np.allclose(result, expected)
for link in simplified_links:
assert isinstance(link, tf.Translation)
def test_combine_translation():
points = np.arange(200 * 3).reshape(200, 3)
link = tf.CompundLink([
tf.Translation((1, 0, 0)),
tf.CompundLink([tf.Translation((0, 1, 0))]),
])
simplified_links = tf.simplify_links([link])
assert len(simplified_links) == 1
simple_link = simplified_links[0]
assert isinstance(simple_link, tf.Translation)
assert simple_link._amount == 1
assert np.allclose(simple_link._direction, (1, 1, 0))
expected = link.transform(points)
result = simple_link.transform(points)
assert np.allclose(result, expected)
link = tf.CompundLink([
tf.Translation((1, 0, 0)),
tf.CompundLink(
[tf.Translation((0, 1, 0)),
tf.Translation((0, 0, 1), amount=0.3)]),
tf.Translation((0.2, 0, 0), amount=0.5),
])
simplified_links = tf.simplify_links([link])
assert len(simplified_links) == 1
simple_link = simplified_links[0]
assert isinstance(simple_link, tf.Translation)
assert simple_link._amount == 1
assert np.allclose(simple_link._direction, (1.1, 1, 0.3))
expected = link.transform(points)
result = simple_link.transform(points)
assert np.allclose(result, expected)
def test_compound_unwrapping():
points = np.arange(200 * 3).reshape(200, 3)
link = tf.CompundLink([
tf.Translation((1, 0, 0)),
tf.CompundLink([
tf.Translation((0, 1, 0)),
]),
tf.EulerRotation("Y", -90, degrees=True),
])
simplified_links = tf.simplify_links([link])
expected = link.transform(points)
result = points
for link in simplified_links:
assert not isinstance(link, tf.CompundLink)
result = link.transform(result)
assert np.allclose(result, expected)
def test_inverted_custom_link():
class Custom(tf.Link):
def transform(self, x: ArrayLike) -> np.ndarray:
return x
def __inverse_transform__(self, x: ArrayLike) -> np.ndarray:
return x
points = np.arange(200 * 3).reshape(200, 3)
link = tf.InvertLink(Custom(3, 3))
simplified_links = tf.simplify_links([link])
expected = link.transform(points)
result = points
for link in simplified_links:
result = link.transform(result)
assert np.allclose(result, expected)
def test_link_ordering():
points = np.arange(200 * 3).reshape(200, 3)
links: List[tf.Link] = [
tf.Rotation((1, 0, 0), (0, 1, 0)),
tf.Translation((1, 0, 0)),
tf.Translation((1, 1, 0)),
tf.Translation((1, 1, 1)),
]
simplified_links = tf.simplify_links(links)
expected = points
for link in links:
expected = link.transform(expected)
result = points
for link in simplified_links:
result = link.transform(result)
assert np.allclose(result, expected)
assert isinstance(simplified_links[-1], tf.Rotation)