def test_get_edges(self):
b = Box(1, 2, 3)
e = b.get_edges(tf_identity)
row, col = e.shape
assert row == 12
assert col == 6
v = b.get_vertices(tf_identity)
# check only one edge
v0 = np.hstack((v[0], v[1]))
assert_almost_equal(v0, e[0])
def test_get_vertices(self):
b = Box(1, 2, 3)
v = b.get_vertices(tf_identity)
desired = np.array([
[-0.5, 1, 1.5],
[-0.5, 1, -1.5],
[-0.5, -1, 1.5],
[-0.5, -1, -1.5],
[0.5, 1, 1.5],
[0.5, 1, -1.5],
[0.5, -1, 1.5],
[0.5, -1, -1.5],
])
assert_almost_equal(v, desired)
def test_set_transform(self):
b = Box(1, 2, 3)
tf = np.eye(4)
tf[0, 3] = 10.5
v = b.get_vertices(tf)
desired = np.array([
[10, 1, 1.5],
[10, 1, -1.5],
[10, -1, 1.5],
[10, -1, -1.5],
[11, 1, 1.5],
[11, 1, -1.5],
[11, -1, 1.5],
[11, -1, -1.5],
])
assert_almost_equal(v, desired)
def test_set_transform2(self):
b = Box(1, 2, 3)
tf = np.eye(4)
# rotate pi / 2 around x-axis
tf[1:3, 1:3] = np.array([[0, -1], [1, 0]])
v = b.get_vertices(tf)
desired = np.array([
[-0.5, -1.5, 1],
[-0.5, 1.5, 1],
[-0.5, -1.5, -1],
[-0.5, 1.5, -1],
[0.5, -1.5, 1],
[0.5, 1.5, 1],
[0.5, -1.5, -1],
[0.5, 1.5, -1],
])
assert_almost_equal(v, desired)
