def test_Utils_Vector_OrthoBasis_GoodRandomRefVec(self):
import numpy as np
from opan.utils.vector import ortho_basis as ob
from opan.utils.vector import vec_angle as ang
nv = [8.5, -3.15, -2.1884]
on1, on2 = ob(nv)
self.assertAlmostEqual(np.dot(nv, on1), 0.0,
delta=1e-10,
msg="Normal vector not normal to first basis vector")
self.assertAlmostEqual(np.dot(nv, on2), 0.0,
delta=1e-10,
msg="Normal vector not normal to second basis vector")
self.assertAlmostEqual(np.dot(on1, on2), 0.0,
delta=1e-10,
msg="Basis vectors not normal")
self.assertAlmostEqual(np.sum(np.power(on1, 2.)), 1.0,
delta=1e-10,
msg="First basis vector not normalized")
self.assertAlmostEqual(np.sum(np.power(on2, 2.)), 1.0,
delta=1e-10,
msg="Second basis vector not normalized")
self.assertAlmostEqual(ang(nv, np.cross(on1, on2)), 0.0,
delta=1e-5,
msg="Incorrect handedness of basis vectors")
def test_Utils_Vector_OrthoBasis_GoodDefinedRefVec(self):
import numpy as np
from opan.utils.vector import ortho_basis as ob
from opan.utils.vector import vec_angle as ang
from opan.utils.vector import rej
nv = [2.5, 31.15, -25.1884]
rv = [-12.15, 0.0034, 35.18]
on1, on2 = ob(nv, rv)
self.assertAlmostEqual(
np.dot(nv, on1),
0.0,
delta=1e-10,
msg="Normal vector not normal to first basis vector")
self.assertAlmostEqual(
np.dot(nv, on2),
0.0,
delta=1e-10,
msg="Normal vector not normal to second basis vector")
self.assertAlmostEqual(np.dot(on1, on2),
0.0,
delta=1e-10,
msg="Basis vectors not normal")
self.assertAlmostEqual(np.sum(np.power(on1, 2.)),
1.0,
delta=1e-10,
msg="First basis vector not normalized")
self.assertAlmostEqual(np.sum(np.power(on2, 2.)),
1.0,
delta=1e-10,
msg="Second basis vector not normalized")
self.assertAlmostEqual(ang(nv, np.cross(on1, on2)),
0.0,
delta=1e-5,
msg="Incorrect handedness of basis vectors")
self.assertAlmostEqual(
ang(rej(rv, nv), on1),
0.0,
delta=1e-5,
msg="First basis vector not aligned with reference")
def test_Utils_Vector_OrthoBasis_GoodRandomRefVec(self):
import numpy as np
from opan.utils.vector import ortho_basis as ob
from opan.utils.vector import vec_angle as ang
nv = [8.5, -3.15, -2.1884]
on1, on2 = ob(nv)
self.assertAlmostEqual(
np.dot(nv, on1),
0.0,
delta=1e-10,
msg="Normal vector not normal to first basis vector")
self.assertAlmostEqual(
np.dot(nv, on2),
0.0,
delta=1e-10,
msg="Normal vector not normal to second basis vector")
self.assertAlmostEqual(np.dot(on1, on2),
0.0,
delta=1e-10,
msg="Basis vectors not normal")
self.assertAlmostEqual(np.sum(np.power(on1, 2.)),
1.0,
delta=1e-10,
msg="First basis vector not normalized")
self.assertAlmostEqual(np.sum(np.power(on2, 2.)),
1.0,
delta=1e-10,
msg="Second basis vector not normalized")
self.assertAlmostEqual(ang(nv, np.cross(on1, on2)),
0.0,
delta=1e-5,
msg="Incorrect handedness of basis vectors")
def test_Utils_Vector_ONCheck_SkewedVec(self):
import numpy as np
from scipy import linalg as spla
from opan.utils.vector import orthonorm_check as onchk
from opan.utils.vector import ortho_basis as ob
vec = np.array([-6.277, 1.345, -23.8734])
offvec = np.subtract(vec, np.array([-3, 5, -12]))
offvec = offvec / spla.norm(offvec)
on1, on2 = ob(vec)
m = np.column_stack((offvec, on1, on2))
c, nf, of = onchk(m, report=True)
self.assertFalse(c)
self.assertEqual(len(nf), 0)
self.assertEqual(len(of), 2)
self.assertEqual(of[0], (0,1))
self.assertEqual(of[1], (0,2))
def test_Utils_Vector_ONCheck_Trivial2D(self):
import numpy as np
from scipy import linalg as spla
from opan.utils.vector import orthonorm_check as onchk
from opan.utils.vector import ortho_basis as ob
vec = np.array([3.18, -2.25, 1.0005])
on1, on2 = ob(vec)
m = np.column_stack((vec / spla.norm(vec), on1, on2))
c, nf, of = onchk(m)
self.assertTrue(c)
self.assertIsNone(nf)
self.assertIsNone(of)
c, nf, of = onchk(m, report=True)
self.assertTrue(c)
self.assertEqual(len(nf), 0)
self.assertEqual(len(of), 0)
def test_Utils_Vector_ONCheck_SkewedVec(self):
import numpy as np
from scipy import linalg as spla
from opan.utils.vector import orthonorm_check as onchk
from opan.utils.vector import ortho_basis as ob
vec = np.array([-6.277, 1.345, -23.8734])
offvec = np.subtract(vec, np.array([-3, 5, -12]))
offvec = offvec / spla.norm(offvec)
on1, on2 = ob(vec)
m = np.column_stack((offvec, on1, on2))
c, nf, of = onchk(m, report=True)
self.assertFalse(c)
self.assertEqual(len(nf), 0)
self.assertEqual(len(of), 2)
self.assertEqual(of[0], (0, 1))
self.assertEqual(of[1], (0, 2))
def test_Utils_Vector_ONCheck_Trivial2D(self):
import numpy as np
from scipy import linalg as spla
from opan.utils.vector import orthonorm_check as onchk
from opan.utils.vector import ortho_basis as ob
vec = np.array([3.18, -2.25, 1.0005])
on1, on2 = ob(vec)
m = np.column_stack((vec / spla.norm(vec), on1, on2))
c, nf, of = onchk(m)
self.assertTrue(c)
self.assertIsNone(nf)
self.assertIsNone(of)
c, nf, of = onchk(m, report=True)
self.assertTrue(c)
self.assertEqual(len(nf), 0)
self.assertEqual(len(of), 0)
def test_Utils_Vector_OrthoBasis_GoodDefinedRefVec(self):
import numpy as np
from opan.utils.vector import ortho_basis as ob
from opan.utils.vector import vec_angle as ang
from opan.utils.vector import rej
nv = [2.5, 31.15, -25.1884]
rv = [-12.15, 0.0034, 35.18]
on1, on2 = ob(nv, rv)
self.assertAlmostEqual(np.dot(nv, on1), 0.0,
delta=1e-10,
msg="Normal vector not normal to first basis vector")
self.assertAlmostEqual(np.dot(nv, on2), 0.0,
delta=1e-10,
msg="Normal vector not normal to second basis vector")
self.assertAlmostEqual(np.dot(on1, on2), 0.0,
delta=1e-10,
msg="Basis vectors not normal")
self.assertAlmostEqual(np.sum(np.power(on1, 2.)), 1.0,
delta=1e-10,
msg="First basis vector not normalized")
self.assertAlmostEqual(np.sum(np.power(on2, 2.)), 1.0,
delta=1e-10,
msg="Second basis vector not normalized")
self.assertAlmostEqual(ang(nv, np.cross(on1, on2)), 0.0,
delta=1e-5,
msg="Incorrect handedness of basis vectors")
self.assertAlmostEqual(ang(rej(rv, nv), on1), 0.0,
delta=1e-5,
msg="First basis vector not aligned with reference")
def test_Utils_Vector_ONCheck_NonNormedVec(self):
import numpy as np
from opan.utils.vector import orthonorm_check as onchk
from opan.utils.vector import ortho_basis as ob
vec = np.array([-2.112, 2923.3, -0.2323])
on1, on2 = ob(vec)
m = np.column_stack((vec, on1, on2))
c, nf, of = onchk(m)
self.assertFalse(c)
self.assertIsNone(nf)
self.assertIsNone(of)
c, nf, of = onchk(m, report=True)
self.assertFalse(c)
self.assertEqual(len(of), 0)
self.assertEqual(len(nf), 1)
self.assertEqual(nf[0], 0)
def test_Utils_Vector_ONCheck_NonNormedVec(self):
import numpy as np
from opan.utils.vector import orthonorm_check as onchk
from opan.utils.vector import ortho_basis as ob
vec = np.array([-2.112, 2923.3, -0.2323])
on1, on2 = ob(vec)
m = np.column_stack((vec, on1, on2))
c, nf, of = onchk(m)
self.assertFalse(c)
self.assertIsNone(nf)
self.assertIsNone(of)
c, nf, of = onchk(m, report=True)
self.assertFalse(c)
self.assertEqual(len(of), 0)
self.assertEqual(len(nf), 1)
self.assertEqual(nf[0], 0)
def test_Utils_Vector_OrthoBasis_BadRefArrayLen(self):
import numpy as np
from opan.utils.vector import ortho_basis as ob
with self.assertRaises(ValueError):
ob(np.array(range(1,4)), np.array(range(6)))
def test_Utils_Vector_OrthoBasis_BadNormArrayShape(self):
import numpy as np
from opan.utils.vector import ortho_basis as ob
with self.assertRaises(ValueError):
ob(np.array(range(9)).reshape((3,3)))
def test_Utils_Vector_OrthoBasis_BadRefArrayLen(self):
import numpy as np
from opan.utils.vector import ortho_basis as ob
with self.assertRaises(ValueError):
ob(np.array(range(1, 4)), np.array(range(6)))
def test_Utils_Vector_OrthoBasis_BadNormArrayShape(self):
import numpy as np
from opan.utils.vector import ortho_basis as ob
with self.assertRaises(ValueError):
ob(np.array(range(9)).reshape((3, 3)))
