def _update_text_box(self, msg):
expected = [self._expected_points[p] for p in [1, 2, 3]]
actual = [self.actual_points[p] for p in [1, 2, 3]]
points = '\n'.join([
# Highlight point being calibrated
# Display actual and expected coordinates
('* ' if self._current_point == point else '') +
"{0} {1}".format(coord[0], coord[1])
for point, coord in enumerate(zip(actual, expected))
])
text = '\n'.join([
points, 'World: {}'.format(
apply_transform(inv(self.current_transform),
self.current_position)),
'Step: {}'.format(self.current_step()), 'Message: {}'.format(msg)
])
self._status_text_box.set_text(text)
def test_apply_transform():
x = 1
y = 2
z = 3
x_delta = -0.1
y_delta = -0.2
z_delta = 0.3
transform = [
[1, 0, 0, x_delta],
[0, 1, 0, y_delta],
[0, 0, 1, z_delta],
[0, 0, 0, 1]]
expected = (
round(x - x_delta, 2),
round(y - y_delta, 2),
round(z - z_delta, 2))
result = apply_transform(inv(transform), (x, y, z))
assert result == expected