def test1(self):
'mcni: relative coordinates for geometer'
from mcni.Geometer2 import Geometer, AbsoluteCoord as abs, RelativeCoord as rel
geometer = Geometer()
geometer.register('comp0', abs((0, 0, 0)), abs((0, 0, 0)))
geometer.register('comp1', abs((0, 0, 0)), abs((0, 90, 0)))
geometer.register('comp2', rel((0, 0, 1), 'comp1'), abs((0, 0, 0)))
geometer.register('comp3', rel((0, 0, 0), 'comp2'),
rel((3, 4, 5), 'comp2'))
geometer.register('comp4', abs((0, 0, 0)), rel((0, 0, 90), 'comp0'))
geometer.register('comp5', abs((0, 0, 0)), rel((0, 90, 0), 'comp4'))
geometer.register('comp6', rel((1, 2, 3), 'comp5'), abs((0, 0, 0)))
comp2pos = geometer.position('comp2')
nt.assert_array_almost_equal(comp2pos, (1, 0, 0))
comp2ori = geometer.orientation('comp2')
nt.assert_array_almost_equal(comp2ori, (0, 0, 0))
comp3pos = geometer.position('comp3')
nt.assert_array_almost_equal(comp3pos, (1, 0, 0))
comp3ori = geometer.orientation('comp3')
nt.assert_array_almost_equal(comp3ori, toMatrix((3, 4, 5)))
comp5ori = geometer.orientation('comp5')
nt.assert_array_almost_equal(comp5ori, toMatrix((-90, 0, 90)))
comp6pos = geometer.position('comp6')
nt.assert_array_almost_equal(comp6pos, (-2, 3, -1))
return
def test1(self):
"mcni: relative coordinates for geometer"
from mcni.Geometer2 import Geometer, AbsoluteCoord as abs, RelativeCoord as rel
geometer = Geometer()
geometer.register("comp0", abs((0, 0, 0)), abs((0, 0, 0)))
geometer.register("comp1", abs((0, 0, 0)), abs((0, 90, 0)))
geometer.register("comp2", rel((0, 0, 1), "comp1"), abs((0, 0, 0)))
geometer.register("comp3", rel((0, 0, 0), "comp2"), rel((3, 4, 5), "comp2"))
geometer.register("comp4", abs((0, 0, 0)), rel((0, 0, 90), "comp0"))
geometer.register("comp5", abs((0, 0, 0)), rel((0, 90, 0), "comp4"))
geometer.register("comp6", rel((1, 2, 3), "comp5"), abs((0, 0, 0)))
comp2pos = geometer.position("comp2")
nt.assert_array_almost_equal(comp2pos, (1, 0, 0))
comp2ori = geometer.orientation("comp2")
nt.assert_array_almost_equal(comp2ori, (0, 0, 0))
comp3pos = geometer.position("comp3")
nt.assert_array_almost_equal(comp3pos, (1, 0, 0))
comp3ori = geometer.orientation("comp3")
nt.assert_array_almost_equal(comp3ori, toMatrix((3, 4, 5)))
comp5ori = geometer.orientation("comp5")
nt.assert_array_almost_equal(comp5ori, toMatrix((-90, 0, 90)))
comp6pos = geometer.position("comp6")
nt.assert_array_almost_equal(comp6pos, (-2, 3, -1))
return
def calculateAbsoluteCoordinates(relative_coordinates, component_sequence):
'''calculate the "absolute coordindates" of elements out of the "relative coordinates"
The so-called "relative coordinates" are used to describe the geometrical
interrelation of the elements. For example
"guide2": "guide1", [0,0,3], [[1,0,0], [0,0,1], [0,-1,0]]
means that guide2 is z=3 relative to guide1, and rotated 90 degrees along x axis.
The format of a relative_coordinate is
element: reference_element, position, orientation
where position is a vector, and orientation is a 3X3 matrix.
When reference_element is not specified, the entry is an absolute coordinate.
There must be at least one entry in relative_coordinates that is "absolute".
The whole set of relative_coordinates specification must be complete enough
to resolve the absolute coordinates of all elements.
'''
from mcni.Geometer2 import Geometer, RelativeCoord as rel, AbsoluteCoord as abs
geometer = Geometer()
geometer.element_sequence = component_sequence
for element in relative_coordinates:
reference, position, orientation = relative_coordinates[element]
if reference:
geometer.register(element, rel(position, reference),
rel(orientation, reference))
else:
geometer.register(element, abs(position), abs(orientation))
continue
d = {}
for element in relative_coordinates:
d[element] = geometer.position(element), geometer.orientation(element)
return d
def calculateAbsoluteCoordinates(relative_coordinates, component_sequence):
'''calculate the "absolute coordindates" of elements out of the "relative coordinates"
The so-called "relative coordinates" are used to describe the geometrical
interrelation of the elements. For example
"guide2": "guide1", [0,0,3], [[1,0,0], [0,0,1], [0,-1,0]]
means that guide2 is z=3 relative to guide1, and rotated 90 degrees along x axis.
The format of a relative_coordinate is
element: reference_element, position, orientation
where position is a vector, and orientation is a 3X3 matrix.
When reference_element is not specified, the entry is an absolute coordinate.
There must be at least one entry in relative_coordinates that is "absolute".
The whole set of relative_coordinates specification must be complete enough
to resolve the absolute coordinates of all elements.
'''
from mcni.Geometer2 import Geometer, RelativeCoord as rel, AbsoluteCoord as abs
geometer = Geometer()
geometer.element_sequence = component_sequence
for element in relative_coordinates:
reference, position, orientation = relative_coordinates[element]
if reference:
geometer.register(element, rel(position, reference), rel(orientation, reference))
else:
geometer.register(element, abs(position), abs(orientation))
continue
d = {}
for element in relative_coordinates:
d[element] = geometer.position(element), geometer.orientation(element)
return d