def testPathLengthCalculation(self):
cube = create_cuboid(2, 4, 6)
beam_axis = Vector3([1.0, 0.0, 0.0])
gauge_volume = Vector3([0.0, 0.0, 0.0])
diff_axis = [Vector3([0.0, 1.0, 0.0]), Vector3([0.0, 0.0, 1.0])]
lengths = path_length_calculation(cube, gauge_volume, beam_axis,
diff_axis)
np.testing.assert_array_almost_equal(lengths, [4.0, 3.0], decimal=5)
beam_axis = Vector3([0.0, -1.0, 0.0])
lengths = path_length_calculation(cube, gauge_volume, beam_axis,
diff_axis)
np.testing.assert_array_almost_equal(lengths, [6.0, 5.0], decimal=5)
# No hit
beam_axis = Vector3([0.0, -1.0, 0.0])
cube.vertices = cube.vertices - [0.0, 10.0, 0.0]
lengths = path_length_calculation(cube, gauge_volume, beam_axis,
diff_axis)
np.testing.assert_array_almost_equal(lengths, [0.0, 0.0], decimal=5)
# single detector
diff_axis = [Vector3([0.0, 0.0, 1.0])]
cube.vertices = cube.vertices + [0.0, 10.0, 0.0]
length = path_length_calculation(cube, gauge_volume, beam_axis,
diff_axis)
self.assertAlmostEqual(*length, 5.0, 5)
# beam outside at gauge volume
cylinder = create_tube(2, 4, 6)
beam_axis = Vector3([0.0, -1.0, 0.0])
diff_axis = [Vector3([0.0, -1.0, 0.0])]
length = path_length_calculation(cylinder, gauge_volume, beam_axis,
diff_axis)
self.assertAlmostEqual(*length, 0.0, 5)
# beam cross more than a 2 faces
cylinder.vertices = cylinder.vertices - [0.0, 3.0, 0.0]
length = path_length_calculation(cylinder, gauge_volume, beam_axis,
diff_axis)
self.assertAlmostEqual(*length, 4.0, 5)
# diff beam does not hit
cube = create_cuboid(depth=0.0)
cube.vertices = cube.vertices - [0.0, 1.0, 0.0]
length = path_length_calculation(cube, gauge_volume, beam_axis,
diff_axis)
self.assertAlmostEqual(*length, 0.0, 5)
def testClosestTriangleToPoint(self):
cube = create_cuboid(2, 2, 2)
faces = cube.vertices[cube.indices].reshape(-1, 9)
points = np.array([[0.0, 1.0, 0.0], [2.0, 0.5, -0.1]])
face = closest_triangle_to_point(faces, points)
np.testing.assert_array_almost_equal(face[0], faces[2], decimal=5)
np.testing.assert_array_almost_equal(face[1], faces[9], decimal=5)
def createPositioningStack():
y_axis = create_cuboid(200, 10, 200)
z_axis = create_cylinder(25, 50)
q1 = Link("Z", [0.0, 0.0, 1.0], [0.0, 0.0, 0.0], Link.Type.Revolute,
-3.14, 3.14, 0, z_axis)
q2 = Link("Y", [0.0, 1.0, 0.0], [0.0, 0.0, 0.0], Link.Type.Prismatic,
-200.0, 200.0, 0, y_axis)
s = SerialManipulator("", [q1, q2],
custom_order=[1, 0],
base=Matrix44.fromTranslation([0.0, 0.0, 50.0]))
return PositioningStack(s.name, s)
def redo(self):
if self.option == InsertSampleOptions.Replace:
self.old_sample = self.presenter.model.sample
if self.primitive == Primitives.Tube:
mesh = create_tube(**self.args)
elif self.primitive == Primitives.Sphere:
mesh = create_sphere(**self.args)
elif self.primitive == Primitives.Cylinder:
mesh = create_cylinder(**self.args)
else:
mesh = create_cuboid(**self.args)
self.sample_key = self.presenter.model.addMeshToProject(self.name, mesh, option=self.option)
def testStackToString(self):
q1 = Link("X", [1.0, 0.0, 0.0], [0.0, 0.0, 0.0], Link.Type.Prismatic,
-180.0, 120.0, -10)
first = SerialManipulator("first", [q1])
y_axis = create_cuboid(200, 10, 200)
z_axis = create_cylinder(25, 50)
q1 = Link("Z", [0.0, 0.0, 1.0], [0.0, 0.0, 0.0], Link.Type.Revolute,
-3.14, 3.14, 1.57, z_axis)
q2 = Link("Y", [0.0, 1.0, 0.0], [0.0, 0.0, 0.0], Link.Type.Prismatic,
-200.0, 200.0, 0, y_axis)
second = SerialManipulator("second", [q1, q2],
custom_order=[1, 0],
base=Matrix44.fromTranslation(
[0.0, 0.0, 50.0]))
stack = PositioningStack("New Stack", first)
stack.addPositioner(second)
stack.links[0].ignore_limits = True
stack.links[1].locked = True
stack_string = stack_to_string(stack)
new_stack = stack_from_string(stack_string)
for l1, l2 in zip(stack.links, new_stack.links):
self.assertEqual(l1.ignore_limits, l2.ignore_limits)
self.assertEqual(l1.locked, l2.locked)
self.assertEqual(l1.type, l2.type)
self.assertEqual(l1.upper_limit, l2.upper_limit)
self.assertEqual(l1.lower_limit, l2.lower_limit)
np.testing.assert_array_almost_equal(l1.home, l2.home)
np.testing.assert_array_almost_equal(l1.joint_axis, l2.joint_axis)
np.testing.assert_array_almost_equal(new_stack.set_points,
stack.set_points)
np.testing.assert_array_almost_equal(new_stack.fixed.base,
stack.fixed.base)
np.testing.assert_array_almost_equal(new_stack.fixed.tool,
stack.fixed.tool)
np.testing.assert_array_almost_equal(new_stack.fixed.order,
stack.fixed.order)
np.testing.assert_array_almost_equal(new_stack.auxiliary[0].base,
stack.auxiliary[0].base)
np.testing.assert_array_almost_equal(new_stack.auxiliary[0].tool,
stack.auxiliary[0].tool)
np.testing.assert_array_almost_equal(new_stack.auxiliary[0].order,
stack.auxiliary[0].order)
def testManager(self):
manager = CollisionManager(5)
self.assertEqual(manager.max_size, 5)
geometry = [create_cuboid(), create_cuboid()]
transform = [
Matrix44.identity(),
Matrix44.fromTranslation([0, 0, 0.5])
]
manager.addColliders(geometry, transform, movable=True)
self.assertEqual(len(manager.queries), 2)
self.assertEqual(len(manager.colliders), 2)
manager.addColliders([create_cuboid()],
[Matrix44.fromTranslation([0, 0, 2.0])])
self.assertEqual(len(manager.queries), 2)
self.assertEqual(len(manager.colliders), 3)
manager.createAABBSets()
self.assertListEqual(manager.collide(), [True, True, False])
manager.clear()
self.assertEqual(len(manager.queries), 0)
self.assertEqual(len(manager.colliders), 0)
geometry = [create_cuboid(), create_cuboid(), create_cuboid()]
transform = [
Matrix44.identity(),
Matrix44.fromTranslation([0, 0, 0.5]),
Matrix44.fromTranslation([0, 0, 1.5])
]
manager.addColliders(geometry,
transform,
CollisionManager.Exclude.Consecutive,
movable=True)
manager.createAABBSets()
self.assertListEqual(manager.collide(), [False, False, False])
manager.clear()
transform = [
Matrix44.identity(),
Matrix44.identity(),
Matrix44.identity()
]
manager.addColliders(geometry,
transform,
CollisionManager.Exclude.All,
movable=True)
manager.createAABBSets()
self.assertListEqual(manager.collide(), [False, False, False])
def setUp(self):
mock_instrument_entity = self.createMock(
"sscanss.core.instrument.simulation.InstrumentEntity")
self.mock_process = self.createMock(
"sscanss.core.instrument.simulation.Process")
self.mock_logging = self.createMock(
"sscanss.core.instrument.simulation.logging")
self.mock_process.is_alive.return_value = False
Collimator = namedtuple("Collimator", ["name"])
Jaws = namedtuple("Jaws", ["beam_direction", "positioner"])
Detector = namedtuple(
"Detector",
["diffracted_beam", "positioner", "current_collimator"])
self.mock_instrument = mock.create_autospec(Instrument)
self.mock_instrument.positioning_stack = self.createPositioningStack()
self.mock_instrument.jaws = Jaws([1.0, 0.0, 0.0],
self.createPositioner())
self.mock_instrument.gauge_volume = [0.0, 0.0, 0.0]
self.mock_instrument.q_vectors = [[-0.70710678, 0.70710678, 0.0],
[-0.70710678, -0.70710678, 0.0]]
self.mock_instrument.detectors = {
"North":
Detector([0.0, 1.0, 0.0], self.createPositioner(),
Collimator("4mm")),
"South":
Detector([0.0, -1.0, 0.0], None, Collimator("2mm")),
}
self.mock_instrument.beam_in_gauge_volume = True
meshes = None
offsets = []
transforms = []
for mesh, transform in self.mock_instrument.positioning_stack.model():
if meshes is None:
meshes = mesh
else:
meshes.append(meshes)
transforms.append(transform)
offsets.append(len(meshes.indices))
beam_stop = create_cuboid(100, 100, 100)
beam_stop.translate([0.0, 100.0, 0.0])
transforms.append(Matrix44.identity())
meshes.append(beam_stop)
offsets.append(len(meshes.indices))
mock_instrument_entity.return_value.vertices = meshes.vertices
mock_instrument_entity.return_value.indices = meshes.indices
mock_instrument_entity.return_value.transforms = transforms
mock_instrument_entity.return_value.offsets = offsets
mock_instrument_entity.return_value.keys = {
"Positioner": 2,
"Beam_stop": 3
}
self.sample = {"sample": create_cuboid(50.0, 100.000, 200.000)}
self.points = np.rec.array(
[([0.0, -90.0, 0.0], True), ([0.0, 0.0, 0.0], True),
([0.0, 90.0, 0.0], True), ([0.0, 0.0, 10.0], False)],
dtype=POINT_DTYPE,
)
self.vectors = np.zeros((4, 6, 1), dtype=np.float32)
self.alignment = Matrix44.identity()