def test_compare_B_frames(self):
E = FrameE(name='WGS84')
E2 = FrameE(name='WGS72')
n_EB_E = E.Nvector(unit([[1], [2], [3]]), z=-400)
B = FrameB(n_EB_E, yaw=10, pitch=20, roll=30, degrees=True)
assert B != E
B2 = FrameB(n_EB_E, yaw=1, pitch=20, roll=30, degrees=True)
assert B != B2
B3 = FrameB(n_EB_E, yaw=10, pitch=20, roll=30, degrees=True)
assert B == B3
n_EC_E = E.Nvector(unit([[1], [2], [2]]), z=-400)
B4 = FrameB(n_EC_E, yaw=10, pitch=20, roll=30, degrees=True)
assert B != B4
n_ED_E = E2.Nvector(unit([[1], [2], [3]]), z=-400)
B5 = FrameB(n_ED_E, yaw=10, pitch=20, roll=30, degrees=True)
assert B != B5
def test_Ex2_B_and_delta_in_frame_B_to_C_in_frame_E():
# delta vector from B to C, decomposed in B is given:
# A custom reference ellipsoid is given (replacing WGS-84):
wgs72 = FrameE(name='WGS72')
# Position and orientation of B is given 400m above E:
n_EB_E = wgs72.Nvector(unit([[1], [2], [3]]), z=-400)
frame_B = FrameB(n_EB_E, yaw=10, pitch=20, roll=30, degrees=True)
p_BC_B = frame_B.Pvector(np.r_[3000, 2000, 100].reshape((-1, 1)))
p_BC_E = p_BC_B.to_ecef_vector()
p_EB_E = n_EB_E.to_ecef_vector()
p_EC_E = p_EB_E + p_BC_E
pointC = p_EC_E.to_geo_point()
lat, lon, z = pointC.latlon_deg
# Here we also assume that the user wants output height (= - depth):
assert_allclose(lat, 53.32637826)
assert_allclose(lon, 63.46812344)
assert_allclose(z, -406.00719607)