def test_always_outputs_float64():
result = rotation_from_up_and_look(
up=np.array(vg.basis.y, dtype=np.float32),
look=np.array(vg.basis.z, dtype=np.float32),
)
assert result.dtype == np.float64
np.testing.assert_array_almost_equal(result, np.eye(3))
def reorient_points(points, up, look):
from polliwog.transform import rotation_from_up_and_look
vg.shape.check(locals(), "up", (3,))
vg.shape.check(locals(), "look", (3,))
return np.dot(rotation_from_up_and_look(up, look), points.T).T
def test_vary_up_alone():
np.testing.assert_array_almost_equal(
euler([0, 0, 45]),
rotation_from_up_and_look(up=np.array([1, 1, 0]), look=vg.basis.z),
)
np.testing.assert_array_almost_equal(
euler([0, 0, 90]),
rotation_from_up_and_look(up=vg.basis.x, look=vg.basis.z))
np.testing.assert_array_almost_equal(
euler([0, 0, 135]),
rotation_from_up_and_look(up=np.array([1, -1, 0]), look=vg.basis.z),
)
np.testing.assert_array_almost_equal(
euler([0, 0, 180]),
rotation_from_up_and_look(up=vg.basis.neg_y, look=vg.basis.z),
)
np.testing.assert_array_almost_equal(
euler([0, 0, 225]),
rotation_from_up_and_look(up=np.array([-1, -1, 0]), look=vg.basis.z),
)
np.testing.assert_array_almost_equal(
euler([0, 0, 270]),
rotation_from_up_and_look(up=vg.basis.neg_x, look=vg.basis.z),
)
np.testing.assert_array_almost_equal(
euler([0, 0, 315]),
rotation_from_up_and_look(up=np.array([-1, 1, 0]), look=vg.basis.z),
)
def test_starting_with_canonical_reference_frame_gives_identity():
result = rotation_from_up_and_look(up=vg.basis.y, look=vg.basis.z)
np.testing.assert_array_almost_equal(result, np.eye(3))
def test_normalizes_inputs():
result = rotation_from_up_and_look(up=np.array([0, 42, 0]),
look=np.array([0, 0, 13]))
np.testing.assert_array_almost_equal(result, np.eye(3))
def test_raises_value_error_with_collinear_inputs():
with pytest.raises(ValueError):
rotation_from_up_and_look(up=vg.basis.z, look=vg.basis.z)
with pytest.raises(ValueError):
rotation_from_up_and_look(up=vg.basis.z, look=vg.basis.neg_z)
def test_raises_value_error_with_zero_length_inputs():
with pytest.raises(ValueError):
rotation_from_up_and_look(up=origin, look=vg.basis.z)
with pytest.raises(ValueError):
rotation_from_up_and_look(up=vg.basis.y, look=origin)