def testRot2D(self):
"""Test rot2D
"""
def pvtIter():
for pos in (5, -3):
for vel in (0.1, 0, -0.3):
for tai in (500, 999):
yield coordConv.PVT(pos, vel, tai)
for fromPVTX in pvtIter():
for fromPVTY in pvtIter():
for ang in (0, 21, -75.5):
for rotTAI in (fromPVTX.t - 200, fromPVTX.t + 5000):
toPVTX = coordConv.PVT()
toPVTY = coordConv.PVT()
coordConv.rot2D(toPVTX, toPVTY, fromPVTX, fromPVTY, ang, rotTAI)
for testTAI in (rotTAI, rotTAI + 1010):
fromX = fromPVTX.getPos(testTAI)
fromY = fromPVTY.getPos(testTAI)
predToX, predToY = coordConv.rot2D(fromX, fromY, ang)
self.assertAlmostEqual(predToX, toPVTX.getPos(testTAI))
self.assertAlmostEqual(predToY, toPVTY.getPos(testTAI))
def testRot2D(self):
"""Test rot2D using various obvious values
"""
invSqrt2 = 1.0 / math.sqrt(2)
for inArgs, predOut in (
((1, 0, 0), (1, 0)),
((1, 0, 90), (0, 1)),
((1, 0, -90), (0, -1)),
((1, 0, 180), (-1, 0)),
((1, 0, -180), (-1, 0)),
((1, 0, 45), (invSqrt2, invSqrt2)),
((1, 0, -45), (invSqrt2, -invSqrt2)),
((1.2345e67, 0, -45), (1.2345e67 * invSqrt2, -1.2345e67 * invSqrt2)),
((0, 1, 0), (0, 1)),
((0, 1, 90), (-1, 0)),
((0, 1, -90), (1, 0)),
((0, 1, 180), (0, -1)),
((0, 1, -180), (0, -1)),
((0, 1, 45), (-invSqrt2, invSqrt2)),
((0, 1, -45), (invSqrt2, invSqrt2)),
((0, 1.2345e67, -45), (1.2345e67 * invSqrt2, 1.2345e67 * invSqrt2)),
):
out = coordConv.rot2D(*inArgs)
self.assertTrue(numpy.allclose(out, predOut))
