import scipy as sp
import numpy as np
import mango.mpi as mpi
import math
logger, rootLogger = mpi.getLoggers(__name__)
def rotation_matrix(angle, axis, dim=3, dtype="float64"):
"""
Returns rotation matrix for specified degree angle and
coordinate axis of rotation.
:type angle: :obj:`float`
:param angle: Angle of rotation in degrees.
:type axis: :obj:`int`
:param axis: Index of the axis of rotation (for :samp:`{dim}=3`, :samp:`{axis}=0`
is the z-axis, :samp:`{axis}=1` is the y-axis and:samp:`{axis}=2`
is the x-axis.
:type dim: :obj:`int`
:param dim: Rotation spatial dimension.
:rtype: :obj:`numpy.array`
:return: A :samp:`(dim, dim)` shaped rotation matrix.
"""
I = sp.eye(dim, dim, dtype=dtype)
u = sp.zeros((dim, 1), dtype=dtype)
v = sp.zeros((dim, 1), dtype=dtype)
u[(axis + dim - 2) % dim] = 1
v[(axis + dim - 1) % dim] = 1
try:
# Import the set class, python2 only, python3 has set as a built-in.
import sets.Set as set
except:
pass
import inspect
import mango
import mango.mpi as mpi
from mango.application.main_driver import MainDriverFilter
from mango.application.main_driver import getAllRegisteredMainDriverFilterClasses
# Import XML element-tree parser, use this to validate XML.
import xml.etree.ElementTree as ET
logger, rootLogger = mpi.getLoggers(__name__)
_xmlDocRe = re.compile("\\s*\\<\\?\\s*xml\\s*version\\s*=.*\\?\\>\\s+(.*)")
def makeXmlDoc(xmlStr):
"""
Turns XML tag string into XML document which can be validated by :obj:`xml.etree.ElementTree`
parser. Simply adds the :samp:`'<? xml version=\"1.0\"?>'` header string and
global enclosing tags of :samp:`<mango>...</mango>`.
:type xmlStr: :obj:`str`
:param xmlStr: String of XML.
:rtype: :obj:`str`
:return: XML document string.
"""
xmlDocStr = xmlStr
if (re.match(_xmlDocRe, xmlDocStr) == None):
xmlDocStr = ("<?xml version=\"1.0\"?>\n<mango>\n%s\n</mango>" % xmlStr)
