def initialize_composite_transformation(self):
self.transformation_context = "composite transformation"
right_angle = math.pi / 2.0
self.start_position_coordinates = (1.0, 100.0, 200.0, 300.0)
delta_position = Position.from_xyz((2.0, 3.0, 4.0))
self.stop_position_coordinates = (1.0, 297.0, 102.0, 204.0)
self.start_direction_coordinates = (0.0, math.sqrt(0.4), math.sqrt(0.5), math.sqrt(0.1))
self.stop_direction_coordinates = (0.0, math.sqrt(0.1), math.sqrt(0.4), math.sqrt(0.5))
first_transform = Transformation.rotation_about_x_axis(right_angle)
second_transform = Transformation.translation_by_position(delta_position)
third_transform = Transformation.rotation_about_z_axis(right_angle)
self.transformation_under_test = first_transform.compose(second_transform).compose(third_transform)
def initialize_translation(self):
self.transformation_context = "translation"
self.start_position_coordinates = (1.0, 20.0, 30.0, 40.0)
self.stop_position_coordinates = (1.0, 22.0, 33.0, 44.0)
delta_position = Position.from_xyz((2.0, 3.0, 4.0))
self.start_direction_coordinates = (0.0, math.sqrt(0.4), math.sqrt(0.5), math.sqrt(0.1))
self.stop_direction_coordinates = self.start_direction_coordinates
self.transformation_under_test = Transformation.translation_by_position(delta_position)
def initialize_rotation_in_z(self):
self.transformation_context = "rotation in z"
angle = math.pi / 6.0
cosine_of_angle = math.cos(angle)
sine_of_angle = math.sin(angle)
self.start_position_coordinates = (1.0, 100.0, 200.0, 300.0)
self.stop_position_coordinates = (
1.0,
100.0 * cosine_of_angle - 200.0 * sine_of_angle,
200.0 * cosine_of_angle + 100.0 * sine_of_angle,
300.0,
)
x = math.sqrt(0.4)
y = math.sqrt(0.5)
z = math.sqrt(0.1)
self.start_direction_coordinates = (0.0, x, y, z)
self.stop_direction_coordinates = (
0.0,
x * cosine_of_angle - y * sine_of_angle,
y * cosine_of_angle + x * sine_of_angle,
z,
)
self.transformation_under_test = Transformation.rotation_about_z_axis(angle)
