def checkArmBaseArmReciprocity(alpha, delta_orig, gamma_orig): (deltaA, gammaA) = (delta_orig, gamma_orig) (deltaB, gammaB) = gammaOnArmToBase(deltaA, gammaA, alpha) (deltaA, gammaA) = gammaOnBaseToArm(deltaB, gammaB, alpha) if ((not radeq(deltaA, delta_orig, TOLERANCE)) or (not radeq(gammaA, gamma_orig, TOLERANCE))): s = "\nArm-Base-Arm reciprocity\n" s += "alpha=%f\n" % (alpha * TODEG, ) s += (" (deltaA, gammaA) = (%f, %f)\n" % (delta_orig * TODEG, gamma_orig * TODEG)) s += (" ->(deltaB, gammaB) = (%f, %f)\n" % (deltaB * TODEG, gammaB * TODEG)) s += (" ->(deltaA, gammaA) = (%f, %f)\n" % (deltaA * TODEG, gammaA * TODEG)) raise AssertionError(s)
def checkArmBaseArmReciprocity(alpha, delta_orig, gamma_orig): (deltaA, gammaA) = (delta_orig, gamma_orig) (deltaB, gammaB) = gammaOnArmToBase(deltaA, gammaA, alpha) (deltaA, gammaA) = gammaOnBaseToArm(deltaB, gammaB, alpha) if ((not radeq(deltaA, delta_orig, TOLERANCE)) or (not radeq(gammaA, gamma_orig, TOLERANCE))): s = "\nArm-Base-Arm reciprocity\n" s += "alpha=%f\n" % (alpha * TODEG,) s += (" (deltaA, gammaA) = (%f, %f)\n" % (delta_orig * TODEG, gamma_orig * TODEG)) s += (" ->(deltaB, gammaB) = (%f, %f)\n" % (deltaB * TODEG, gammaB * TODEG)) s += (" ->(deltaA, gammaA) = (%f, %f)\n" % (deltaA * TODEG, gammaA * TODEG)) raise AssertionError(s)
def checkGammaOnArmToBase(alpha, deltaA, gammaA): deltaB, gammaB = gammaOnArmToBase(deltaA, gammaA, alpha) labA = armAnglesToLabVector(alpha, deltaA, gammaA) labB = baseAnglesToLabVector(deltaB, gammaB) if not nearlyEqual(labA, labB, TOLERANCE): strLabA = ("[%f, %f, %f]" % (labA.get(0, 0), labA.get(1, 0), labA.get(2, 0))) strLabB = ("[%f, %f, %f]" % (labB.get(0, 0), labB.get(1, 0), labB.get(2, 0))) rep = ("alpha=%f, delta=%f, gamma=%f" % (alpha * TODEG, deltaB * TODEG, gammaB * TODEG)) raise AssertionError('\nArm-->Base ' + rep + '\n' + "arm (delta, gamma) = (%f,%f) <==>\t labA = %s\n" % (deltaA * TODEG, gammaA * TODEG, strLabA) + "base(delta, gamma) = (%f,%f) <==>\t labB = %s\n" % (deltaB * TODEG, gammaB * TODEG, strLabB))
def checkGammaOnArmToBase(alpha, deltaA, gammaA): deltaB, gammaB = gammaOnArmToBase(deltaA, gammaA, alpha) labA = armAnglesToLabVector(alpha, deltaA, gammaA) labB = baseAnglesToLabVector(deltaB, gammaB) if not nearlyEqual(labA, labB, TOLERANCE): strLabA = ("[%f, %f, %f]" % (labA.get(0, 0), labA.get(1, 0), labA.get(2, 0))) strLabB = ("[%f, %f, %f]" % (labB.get(0, 0), labB.get(1, 0), labB.get(2, 0))) rep = ("alpha=%f, delta=%f, gamma=%f" % (alpha * TODEG, deltaB * TODEG, gammaB * TODEG)) raise AssertionError( '\nArm-->Base ' + rep + '\n' + "arm (delta, gamma) = (%f,%f) <==>\t labA = %s\n" % (deltaA * TODEG, gammaA * TODEG, strLabA) + "base(delta, gamma) = (%f,%f) <==>\t labB = %s\n" % (deltaB * TODEG, gammaB * TODEG, strLabB))