def test_rotate():
_test_rotate(
Coord.from_nothing(),
Coord.from_zx(Point(0, 0, 0), Point(0, 0, 1), Point(0, -1, 0)),
Point(1, 1, 0), Point(1, -1, 0))
_test_rotate(
Coord.from_zx(Point(0, 0, 0), Point(0, 0, 1), Point(0, 1, 0)),
Coord.from_zx(Point(0, 0, 0), Point(0, 0, 1), Point(0, -1, 0)),
Point(1, 1, 0), Point(-1, -1, 0))
def test_rotate():
q = Quaternion.from_euler(Point(0, 0, np.pi / 2))
c = Coord.from_nothing(10)
rc = c.rotate(q)
assert rc.origin == P0()
np.testing.assert_almost_equal(rc.x_axis.data, PY(1, 10).data)
np.testing.assert_almost_equal(rc.y_axis.data, PX(-1, 10).data)
np.testing.assert_almost_equal(rc.z_axis.data, PZ(1, 10).data)
def test_translate():
ca = Coord.from_nothing()
cb = Coord.from_nothing().translate(Point(1, 0, 0))
transform = Transformation.from_coords(ca, cb)
assert transform.translate(Point(0, 0, 0)) == Point(1, 0, 0)
def test_rotation_matrix():
np.testing.assert_array_equal(
Coord.from_nothing(10).rotation_matrix(),
np.tile(np.identity(3).reshape(1, 3, 3), (10, 1, 1)))