# class by class
if len(left) == 1:
if len(right) == 1:
#print('== 1x1')
return op(left.A, right.A)
else:
#print('== 1xN')
return [op(left.A, x) for x in right.A]
else:
if len(right) == 1:
#print('== Nx1')
return [op(x, right.A) for x in left.A]
elif len(left) == len(right):
#print('== NxN')
return [op(x, y) for (x, y) in zip(left.A, right.A)]
else:
raise ValueError(
'length of lists to == must be same length')
elif argcheck.isscalar(right) or (isinstance(right, np.ndarray)
and right.shape == left.shape):
# class by matrix
if len(left) == 1:
return op(left.A, right)
else:
return [op(x, right) for x in left.A]
if __name__ == "__main__":
from spatialmath import SE3
x = SE3.Rand(N=6)
print(x)
def test_constructor(self):
# null constructor
R = SE3()
nt.assert_equal(len(R), 1)
array_compare(R, np.eye(4))
self.assertIsInstance(R, SE3)
# construct from matrix
R = SE3(trotx(0.2))
nt.assert_equal(len(R), 1)
array_compare(R, trotx(0.2))
self.assertIsInstance(R, SE3)
# construct from canonic rotation
R = SE3.Rx(0.2)
nt.assert_equal(len(R), 1)
array_compare(R, trotx(0.2))
self.assertIsInstance(R, SE3)
R = SE3.Ry(0.2)
nt.assert_equal(len(R), 1)
array_compare(R, troty(0.2))
self.assertIsInstance(R, SE3)
R = SE3.Rz(0.2)
nt.assert_equal(len(R), 1)
array_compare(R, trotz(0.2))
self.assertIsInstance(R, SE3)
# construct from canonic translation
R = SE3.Tx(0.2)
nt.assert_equal(len(R), 1)
array_compare(R, transl(0.2, 0, 0))
self.assertIsInstance(R, SE3)
R = SE3.Ty(0.2)
nt.assert_equal(len(R), 1)
array_compare(R, transl(0, 0.2, 0))
self.assertIsInstance(R, SE3)
R = SE3.Tz(0.2)
nt.assert_equal(len(R), 1)
array_compare(R, transl(0, 0, 0.2))
self.assertIsInstance(R, SE3)
# triple angle
R = SE3.Eul([0.1, 0.2, 0.3])
nt.assert_equal(len(R), 1)
array_compare(R, eul2tr([0.1, 0.2, 0.3]))
self.assertIsInstance(R, SE3)
R = SE3.Eul(np.r_[0.1, 0.2, 0.3])
nt.assert_equal(len(R), 1)
array_compare(R, eul2tr([0.1, 0.2, 0.3]))
self.assertIsInstance(R, SE3)
R = SE3.Eul([10, 20, 30], unit='deg')
nt.assert_equal(len(R), 1)
array_compare(R, eul2tr([10, 20, 30], unit='deg'))
self.assertIsInstance(R, SE3)
R = SE3.RPY([0.1, 0.2, 0.3])
nt.assert_equal(len(R), 1)
array_compare(R, rpy2tr([0.1, 0.2, 0.3]))
self.assertIsInstance(R, SE3)
R = SE3.RPY(np.r_[0.1, 0.2, 0.3])
nt.assert_equal(len(R), 1)
array_compare(R, rpy2tr([0.1, 0.2, 0.3]))
self.assertIsInstance(R, SE3)
R = SE3.RPY([10, 20, 30], unit='deg')
nt.assert_equal(len(R), 1)
array_compare(R, rpy2tr([10, 20, 30], unit='deg'))
self.assertIsInstance(R, SE3)
R = SE3.RPY([0.1, 0.2, 0.3], order='xyz')
nt.assert_equal(len(R), 1)
array_compare(R, rpy2tr([0.1, 0.2, 0.3], order='xyz'))
self.assertIsInstance(R, SE3)
# angvec
R = SE3.AngVec(0.2, [1, 0, 0])
nt.assert_equal(len(R), 1)
array_compare(R, trotx(0.2))
self.assertIsInstance(R, SE3)
R = SE3.AngVec(0.3, [0, 1, 0])
nt.assert_equal(len(R), 1)
array_compare(R, troty(0.3))
self.assertIsInstance(R, SE3)
# OA
R = SE3.OA([0, 1, 0], [0, 0, 1])
nt.assert_equal(len(R), 1)
array_compare(R, np.eye(4))
self.assertIsInstance(R, SE3)
# random
R = SE3.Rand()
nt.assert_equal(len(R), 1)
self.assertIsInstance(R, SE3)
# random
T = SE3.Rand()
R = T.R
t = T.t
T = SE3.Rt(R, t)
self.assertIsInstance(T, SE3)
self.assertEqual(T.A.shape, (4, 4))
nt.assert_equal(T.R, R)
nt.assert_equal(T.t, t)
# copy constructor
R = SE3.Rx(pi / 2)
R2 = SE3(R)
R = SE3.Ry(pi / 2)
array_compare(R2, trotx(pi / 2))
# SO3
T = SE3(SO3())
nt.assert_equal(len(T), 1)
self.assertIsInstance(T, SE3)
nt.assert_equal(T.A, np.eye(4))
# SE2
T = SE3(SE2(1, 2, 0.4))
nt.assert_equal(len(T), 1)
self.assertIsInstance(T, SE3)
self.assertEqual(T.A.shape, (4, 4))
nt.assert_equal(T.t, [1, 2, 0])
