def test_multiply(self):
m1 = Matrix33(np.arange(self._size))
m2 = Matrix33(np.arange(self._size)[::-1])
m = m1 * m2
self.assertTrue(np.array_equal(m, matrix33.multiply(m2, m1)))
m1 = Matrix33(np.arange(self._size))
m2 = Matrix44(np.arange(16))
m = m1 * m2
self.assertTrue(np.array_equal(m, matrix33.multiply(matrix33.create_from_matrix44(m2), m1)))
def test_multiply(self):
m1 = Matrix33(np.arange(self._size))
m2 = Matrix33(np.arange(self._size)[::-1])
m = m1 * m2
self.assertTrue(np.array_equal(m, matrix33.multiply(m1, m2)))
m1 = Matrix33(np.arange(self._size))
m2 = Matrix44(np.arange(16))
m = m1 * m2
self.assertTrue(np.array_equal(m, matrix33.multiply(m1, matrix33.create_from_matrix44(m2))))
def test_operators_matrix33(self):
m1 = Matrix33.identity()
m2 = Matrix33.from_x_rotation(0.5)
# add
self.assertTrue(np.array_equal(m1 + m2, matrix33.create_identity() + matrix33.create_from_x_rotation(0.5)))
# subtract
self.assertTrue(np.array_equal(m1 - m2, matrix33.create_identity() - matrix33.create_from_x_rotation(0.5)))
# multiply
self.assertTrue(np.array_equal(m1 * m2, matrix33.multiply(matrix33.create_from_x_rotation(0.5), matrix33.create_identity())))
# divide
self.assertRaises(ValueError, lambda: m1 / m2)
# inverse
self.assertTrue(np.array_equal(~m2, matrix33.inverse(matrix33.create_from_x_rotation(0.5))))
# ==
self.assertTrue(Matrix33() == Matrix33())
self.assertFalse(Matrix33() == Matrix33([1. for n in range(9)]))
# !=
self.assertTrue(Matrix33() != Matrix33([1. for n in range(9)]))
self.assertFalse(Matrix33() != Matrix33())
def test_operators_matrix44(self):
m1 = Matrix33.identity()
m2 = Matrix44.from_x_rotation(0.5)
# add
self.assertTrue(
np.array_equal(
m1 + m2,
matrix33.create_identity() +
matrix33.create_from_x_rotation(0.5)))
# subtract
self.assertTrue(
np.array_equal(
m1 - m2,
matrix33.create_identity() -
matrix33.create_from_x_rotation(0.5)))
# multiply
self.assertTrue(
np.array_equal(
m1 * m2,
matrix33.multiply(matrix33.create_identity(),
matrix33.create_from_x_rotation(0.5))))
# divide
self.assertRaises(ValueError, lambda: m1 / m2)
def test_operators_quaternion(self):
m = Matrix33.identity()
q = Quaternion.from_x_rotation(0.7)
# add
self.assertRaises(ValueError, lambda: m + q)
# subtract
self.assertRaises(ValueError, lambda: m - q)
# multiply
self.assertTrue(np.array_equal(m * q, matrix33.multiply(matrix33.create_identity(), matrix33.create_from_quaternion(quaternion.create_from_x_rotation(0.7)))))
# divide
self.assertRaises(ValueError, lambda: m / q)
def test_operators_matrix44(self):
m1 = Matrix33.identity()
m2 = Matrix44.from_x_rotation(0.5)
# add
self.assertTrue(np.array_equal(m1 + m2, matrix33.create_identity() + matrix33.create_from_x_rotation(0.5)))
# subtract
self.assertTrue(np.array_equal(m1 - m2, matrix33.create_identity() - matrix33.create_from_x_rotation(0.5)))
# multiply
self.assertTrue(np.array_equal(m1 * m2, matrix33.multiply(matrix33.create_identity(), matrix33.create_from_x_rotation(0.5))))
# divide
self.assertRaises(ValueError, lambda: m1 / m2)
def test_operators_quaternion(self):
m = Matrix33.identity()
q = Quaternion.from_x_rotation(0.7)
# add
self.assertRaises(ValueError, lambda: m + q)
# subtract
self.assertRaises(ValueError, lambda: m - q)
# multiply
self.assertTrue(np.array_equal(m * q, matrix33.multiply(matrix33.create_from_quaternion(quaternion.create_from_x_rotation(0.7)), matrix33.create_identity())))
# divide
self.assertRaises(ValueError, lambda: m / q)
def test_multiply_rotation(self):
m1 = matrix33.create_from_x_rotation(np.pi)
m2 = matrix33.create_from_y_rotation(np.pi / 2.0)
result = matrix33.multiply(m1, m2)
self.assertTrue(np.allclose(result, np.dot(m1, m2)))
def test_multiply_identity(self):
m1 = matrix33.create_identity()
m2 = matrix33.create_identity()
result = matrix33.multiply(m1, m2)
self.assertTrue(np.allclose(result, np.dot(m1, m2)))
def test_multiply_rotation(self):
m1 = matrix33.create_from_x_rotation(np.pi)
m2 = matrix33.create_from_y_rotation(np.pi / 2.0)
result = matrix33.multiply(m1, m2)
self.assertTrue(np.allclose(result, np.dot(m1,m2)))
def test_multiply_identity(self):
m1 = matrix33.create_identity()
m2 = matrix33.create_identity()
result = matrix33.multiply(m1, m2)
self.assertTrue(np.allclose(result, np.dot(m1,m2)))