def test_inverse_matrix(self):
M0 = t.random_rotation_matrix()
M1 = self.f(M0.T)
assert_allclose(M1, np.linalg.inv(M0.T))
for size in range(1, 7):
yield self._check_inverse, size
def test_superimposition_matrix(self):
v0 = np.random.rand(3, 10)
M = self.f(v0, v0)
assert_allclose(M, np.identity(4), atol=_ATOL)
R = t.random_rotation_matrix(np.random.random(3))
v0 = ((1, 0, 0), (0, 1, 0), (0, 0, 1), (1, 1, 1))
v1 = np.dot(R, v0)
M = self.f(v0, v1)
assert_allclose(v1, np.dot(M, v0), atol=_ATOL)
v0 = (np.random.rand(4, 100) - 0.5) * 20.0
v0[3] = 1.0
v1 = np.dot(R, v0)
M = self.f(v0, v1)
assert_allclose(v1, np.dot(M, v0), atol=_ATOL)
S = t.scale_matrix(random.random())
T = t.translation_matrix(np.random.random(3) - 0.5)
M = t.concatenate_matrices(T, R, S)
v1 = np.dot(M, v0)
v0[:3] += np.random.normal(0.0, 1e-9, 300).reshape(3, -1)
M = self.f(v0, v1, scaling=True)
assert_allclose(v1, np.dot(M, v0), atol=_ATOL)
M = self.f(v0, v1, scaling=True, usesvd=False)
assert_allclose(v1, np.dot(M, v0), atol=_ATOL)
v = np.empty((4, 100, 3), dtype=np.float64)
v[:, :, 0] = v0
M = self.f(v0, v1, scaling=True, usesvd=False)
assert_allclose(v1, np.dot(M, v[:, :, 0]), atol=_ATOL)
def test_superimposition_matrix(self):
v0 = np.random.rand(3, 10)
M = self.f(v0, v0)
assert_allclose(M, np.identity(4), atol=_ATOL)
R = t.random_rotation_matrix(np.random.random(3))
v0 = ((1,0,0), (0,1,0), (0,0,1), (1,1,1))
v1 = np.dot(R, v0)
M = self.f(v0, v1)
assert_allclose(v1, np.dot(M, v0), atol=_ATOL)
v0 = (np.random.rand(4, 100) - 0.5) * 20.0
v0[3] = 1.0
v1 = np.dot(R, v0)
M = self.f(v0, v1)
assert_allclose(v1, np.dot(M, v0), atol=_ATOL)
S = t.scale_matrix(random.random())
T = t.translation_matrix(np.random.random(3)-0.5)
M = t.concatenate_matrices(T, R, S)
v1 = np.dot(M, v0)
v0[:3] += np.random.normal(0.0, 1e-9, 300).reshape(3, -1)
M = self.f(v0, v1, scaling=True)
assert_allclose(v1, np.dot(M, v0), atol=_ATOL)
M = self.f(v0, v1, scaling=True, usesvd=False)
assert_allclose(v1, np.dot(M, v0), atol=_ATOL)
v = np.empty((4, 100, 3), dtype=np.float64)
v[:, :, 0] = v0
M = self.f(v0, v1, scaling=True, usesvd=False)
assert_allclose(v1, np.dot(M, v[:, :, 0]), atol=_ATOL)
def test_superimposition_matrix(self):
v0 = np.sin(np.linspace(0, 0.99, 30)).reshape(3,
10) # arbitrary values
M = self.f(v0, v0)
assert_allclose(M, np.identity(4), atol=_ATOL)
R = t.random_rotation_matrix(np.array([0.3, 0.4, 0.5]))
v0 = ((1, 0, 0), (0, 1, 0), (0, 0, 1), (1, 1, 1))
v1 = np.dot(R, v0)
M = self.f(v0, v1)
assert_allclose(v1, np.dot(M, v0), atol=_ATOL)
v0 = np.sin(np.linspace(-1, 1, 400)).reshape(4, 100)
v0[3] = 1.0
v1 = np.dot(R, v0)
M = self.f(v0, v1)
assert_allclose(v1, np.dot(M, v0), atol=_ATOL)
S = t.scale_matrix(0.45)
T = t.translation_matrix(np.array([0.2, 0.2, 0.2]) - 0.5)
M = t.concatenate_matrices(T, R, S)
v1 = np.dot(M, v0)
v0[:3] += np.sin(np.linspace(0.0, 1e-9, 300)).reshape(3, -1)
M = self.f(v0, v1, scaling=True)
assert_allclose(v1, np.dot(M, v0), atol=_ATOL)
M = self.f(v0, v1, scaling=True, usesvd=False)
assert_allclose(v1, np.dot(M, v0), atol=_ATOL)
v = np.empty((4, 100, 3), dtype=np.float64)
v[:, :, 0] = v0
M = self.f(v0, v1, scaling=True, usesvd=False)
assert_allclose(v1, np.dot(M, v[:, :, 0]), atol=_ATOL)
def test_superimposition_matrix(f):
v0 = np.sin(np.linspace(0, 0.99, 30)).reshape(3, 10) # arbitrary values
M = f(v0, v0)
assert_allclose(M, np.identity(4), atol=_ATOL)
R = t.random_rotation_matrix(np.array([0.3, 0.4, 0.5]))
v0 = ((1, 0, 0), (0, 1, 0), (0, 0, 1), (1, 1, 1))
v1 = np.dot(R, v0)
M = f(v0, v1)
assert_allclose(v1, np.dot(M, v0), atol=_ATOL)
v0 = np.sin(np.linspace(-1, 1, 400)).reshape(4, 100)
v0[3] = 1.0
v1 = np.dot(R, v0)
M = f(v0, v1)
assert_allclose(v1, np.dot(M, v0), atol=_ATOL)
S = t.scale_matrix(0.45)
T = t.translation_matrix(np.array([0.2, 0.2, 0.2]) - 0.5)
M = t.concatenate_matrices(T, R, S)
v1 = np.dot(M, v0)
v0[:3] += np.sin(np.linspace(0.0, 1e-9, 300)).reshape(3, -1)
M = f(v0, v1, scaling=True)
assert_allclose(v1, np.dot(M, v0), atol=_ATOL)
M = f(v0, v1, scaling=True, usesvd=False)
assert_allclose(v1, np.dot(M, v0), atol=_ATOL)
v = np.empty((4, 100, 3), dtype=np.float64)
v[:, :, 0] = v0
M = f(v0, v1, scaling=True, usesvd=False)
assert_allclose(v1, np.dot(M, v[:, :, 0]), atol=_ATOL)
def test_inverse_matrix(self):
M0 = t.random_rotation_matrix()
M1 = self.f(M0.T)
assert_allclose(M1, np.linalg.inv(M0.T))
for size in range(1, 7):
yield self._check_inverse, size
def test_inverse_matrix(self):
M0 = t.random_rotation_matrix()
M1 = self.f(M0.T)
assert_allclose(M1, np.linalg.inv(M0.T))
for size in range(1, 7):
M0 = np.random.rand(size, size)
M1 = self.f(M0)
assert_allclose(M1, np.linalg.inv(M0), err_msg=str(size))
def test_inverse_matrix(self):
M0 = t.random_rotation_matrix()
M1 = self.f(M0.T)
assert_allclose(M1, np.linalg.inv(M0.T))
for size in range(1, 7):
M0 = np.random.rand(size, size)
M1 = self.f(M0)
assert_allclose(M1, np.linalg.inv(M0), err_msg=str(size))
def test_is_same_transform_2(self):
assert_equal(self.f(t.random_rotation_matrix(), np.identity(4)), False)
def test_quaternion_from_matrix_6(self):
R = t.random_rotation_matrix()
q = self.f(R)
assert_equal(t.is_same_transform(R, t.quaternion_matrix(q)), True)
def test_is_same_transform_2(self):
assert_equal(self.f(t.random_rotation_matrix(), np.identity(4)), False)
def test_quaternion_from_matrix_6(self):
R = t.random_rotation_matrix()
q = self.f(R)
assert_equal(t.is_same_transform(R, t.quaternion_matrix(q)), True)
def test_inverse_matrix(self, f):
M0 = t.random_rotation_matrix()
M1 = f(M0.T)
assert_allclose(M1, np.linalg.inv(M0.T))
def test_inverse_matrix(self, f):
M0 = t.random_rotation_matrix()
M1 = f(M0.T)
assert_allclose(M1, np.linalg.inv(M0.T))
