def test_rotmat_0(self):
"""Test rotmat when the rotation is 0 deg (singularity)."""
v1 = Vector([1.0, 0.8, 0])
v2 = Vector([1.0, 0.8, 0])
rot = rotmat(v1, v2)
v3 = v1.left_multiply(rot)
self.assertTrue(numpy.allclose(v1.get_array(), v3.get_array()))
def test_refmat(self):
v1 = Vector(0, 0, 1)
v2 = Vector(0, 1, 0)
ref = refmat(v1, v2)
self.assertTrue(numpy.allclose(ref[0], [1.0, 0.0, 0.0]))
self.assertTrue(numpy.allclose(ref[1], [0.0, 0.0, 1.0]))
self.assertTrue(numpy.allclose(ref[2], [0.0, 1.0, 0.0]))
self.assertTrue(
numpy.allclose(v1.left_multiply(ref).get_array(), [0.0, 1.0, 0.0]))
def test_refmat(self):
"""Test refmat can mirror one matrix to another."""
v1 = Vector(0, 0, 1)
v2 = Vector(0, 1, 0)
ref = refmat(v1, v2)
self.assertTrue(numpy.allclose(ref[0], [1.0, 0.0, 0.0]))
self.assertTrue(numpy.allclose(ref[1], [0.0, 0.0, 1.0]))
self.assertTrue(numpy.allclose(ref[2], [0.0, 1.0, 0.0]))
self.assertTrue(
numpy.allclose(v1.left_multiply(ref).get_array(), [0.0, 1.0, 0.0]))
def test_rotmat_90(self):
"""Test regular 90 deg rotation."""
v1 = Vector(0, 0, 1)
v2 = Vector(0, 1, 0)
rot = rotmat(v1, v2)
self.assertTrue(numpy.allclose(rot[0], numpy.array([1.0, 0.0, 0.0])))
self.assertTrue(numpy.allclose(rot[1], numpy.array([0.0, 0.0, 1.0])))
self.assertTrue(numpy.allclose(rot[2], numpy.array([0.0, -1.0, 0.0])))
self.assertTrue(
numpy.allclose(v1.left_multiply(rot).get_array(), [0.0, 1.0, 0.0]))
self.assertTrue(
numpy.allclose(
v1.right_multiply(numpy.transpose(rot)).get_array(),
[0.0, 1.0, 0.0]))
