Author: bugman
Date: Tue Sep 8 17:07:06 2009
New Revision: 9477
URL: http://svn.gna.org/viewcvs/relax?rev=9477&view=rev
Log:
Created 3 unit tests of the maths_fns.rotation_matrix.R_axis_angle() function.
These are almost identical to those of quaternion_to_R().
Modified:
1.3/test_suite/unit_tests/_maths_fns/test_rotation_matrix.py
Modified: 1.3/test_suite/unit_tests/_maths_fns/test_rotation_matrix.py
URL:
http://svn.gna.org/viewcvs/relax/1.3/test_suite/unit_tests/_maths_fns/test_rotation_matrix.py?rev=9477&r1=9476&r2=9477&view=diff
==============================================================================
--- 1.3/test_suite/unit_tests/_maths_fns/test_rotation_matrix.py (original)
+++ 1.3/test_suite/unit_tests/_maths_fns/test_rotation_matrix.py Tue Sep 8
17:07:06 2009
@@ -243,12 +243,38 @@
self.assertAlmostEqual(z_new[i], z_real[i])
- def test_R_euler_zyz_alpha_30(self):
- """Test the rotation matrix from zyz Euler angle conversion using a
beta angle of pi/4."""
-
- # Generate the rotation matrix.
- R = zeros((3, 3), float64)
- R_euler_zyz(R, pi/6, 0.0, 0.0)
+ def test_R_axis_angle_no_rot(self):
+ """Test the quaternion to rotation matrix conversion for a zero
angle rotation."""
+
+ # Quaternion of zero angle.
+ axis = array([-1, 1, 1], float64) / sqrt(3)
+ angle = 0.0
+
+ # The rotation matrix.
+ R = zeros((3, 3), float64)
+ R_axis_angle(R, axis, angle)
+ print("Rotation matrix:\n%s" % R)
+
+ # The correct result.
+ R_true = eye(3)
+
+ # Checks.
+ for i in range(3):
+ for j in range(3):
+ self.assertEqual(R[i, j], R_true[i, j])
+
+
+ def test_R_axis_angle_z_30(self):
+ """Test the quaternion to rotation matrix conversion for a 30 degree
rotation about z."""
+
+ # Axis-angle values.
+ axis = array([0, 0, 1], float64)
+ angle = pi / 6
+
+ # Generate the rotation matrix.
+ R = zeros((3, 3), float64)
+ R_axis_angle(R, axis, angle)
+ print("Rotation matrix:\n%s" % R)
# Axes.
x_axis = array([1, 0, 0], float64)
@@ -276,9 +302,9 @@
# Checks.
for i in range(3):
- self.assertEqual(x_new[i], x_real[i])
- self.assertEqual(y_new[i], y_real[i])
- self.assertEqual(z_new[i], z_real[i])
+ self.assertAlmostEqual(x_new[i], x_real[i])
+ self.assertAlmostEqual(y_new[i], y_real[i])
+ self.assertAlmostEqual(z_new[i], z_real[i])
# Axes (do everything again, this time negative!).
x_axis = array([-1, 0, 0], float64)
@@ -306,17 +332,22 @@
# Checks.
for i in range(3):
- self.assertEqual(x_new[i], x_real[i])
- self.assertEqual(y_new[i], y_real[i])
- self.assertEqual(z_new[i], z_real[i])
-
-
- def test_R_euler_zyz_beta_45(self):
- """Test the rotation matrix from zyz Euler angle conversion using a
beta angle of pi/4."""
-
- # Generate the rotation matrix.
- R = zeros((3, 3), float64)
- R_euler_zyz(R, 0.0, pi/4, 0.0)
+ self.assertAlmostEqual(x_new[i], x_real[i])
+ self.assertAlmostEqual(y_new[i], y_real[i])
+ self.assertAlmostEqual(z_new[i], z_real[i])
+
+
+ def test_R_axis_angle_180_complex(self):
+ """Test the quaternion to rotation matrix conversion for a 180
degree rotation about [1, 1, 1]."""
+
+ # Axis-angle values.
+ axis = array([1, 1, 1], float64) / sqrt(3)
+ angle = 2 * pi / 3
+
+ # Generate the rotation matrix.
+ R = zeros((3, 3), float64)
+ R_axis_angle(R, axis, angle)
+ print("Rotation matrix:\n%s" % R)
# Axes.
x_axis = array([1, 0, 0], float64)
@@ -324,29 +355,29 @@
z_axis = array([0, 0, 1], float64)
# Rotated axis (real values).
- x_real = array([cos(pi/4), 0, -sin(pi/4)], float64)
- y_real = array([0, 1, 0], float64)
- z_real = array([sin(pi/4), 0, cos(pi/4)], float64)
-
- # Rotation.
- x_new = dot(R, x_axis)
- y_new = dot(R, y_axis)
- z_new = dot(R, z_axis)
-
- # Print out.
- print("Rotated and true axes (beta = pi/4):")
- print(("x rot: %s" % x_new))
- print(("x real: %s\n" % x_real))
- print(("y rot: %s" % y_new))
- print(("y real: %s\n" % y_real))
- print(("z rot: %s" % z_new))
- print(("z real: %s\n" % z_real))
-
- # Checks.
- for i in range(3):
- self.assertEqual(x_new[i], x_real[i])
- self.assertEqual(y_new[i], y_real[i])
- self.assertEqual(z_new[i], z_real[i])
+ x_real = array([0, 1, 0], float64)
+ y_real = array([0, 0, 1], float64)
+ z_real = array([1, 0, 0], float64)
+
+ # Rotation.
+ x_new = dot(R, x_axis)
+ y_new = dot(R, y_axis)
+ z_new = dot(R, z_axis)
+
+ # Print out.
+ print("Rotated and true axes (beta = pi/4):")
+ print(("x rot: %s" % x_new))
+ print(("x real: %s\n" % x_real))
+ print(("y rot: %s" % y_new))
+ print(("y real: %s\n" % y_real))
+ print(("z rot: %s" % z_new))
+ print(("z real: %s\n" % z_real))
+
+ # Checks.
+ for i in range(3):
+ self.assertAlmostEqual(x_new[i], x_real[i])
+ self.assertAlmostEqual(y_new[i], y_real[i])
+ self.assertAlmostEqual(z_new[i], z_real[i])
# Axes (do everything again, this time negative!).
x_axis = array([-1, 0, 0], float64)
@@ -354,37 +385,37 @@
z_axis = array([0, 0, -1], float64)
# Rotated axis (real values).
- x_real = array([-cos(pi/4), 0, sin(pi/4)], float64)
- y_real = array([0, -1, 0], float64)
- z_real = array([-sin(pi/4), 0, -cos(pi/4)], float64)
-
- # Rotation.
- x_new = dot(R, x_axis)
- y_new = dot(R, y_axis)
- z_new = dot(R, z_axis)
-
- # Print out.
- print("Rotated and true axes (beta = pi/4):")
- print(("x rot: %s" % x_new))
- print(("x real: %s\n" % x_real))
- print(("y rot: %s" % y_new))
- print(("y real: %s\n" % y_real))
- print(("z rot: %s" % z_new))
- print(("z real: %s\n" % z_real))
-
- # Checks.
- for i in range(3):
- self.assertEqual(x_new[i], x_real[i])
- self.assertEqual(y_new[i], y_real[i])
- self.assertEqual(z_new[i], z_real[i])
-
-
- def test_R_euler_zyz_gamma_15(self):
+ x_real = array([0, -1, 0], float64)
+ y_real = array([0, 0, -1], float64)
+ z_real = array([-1, 0, 0], float64)
+
+ # Rotation.
+ x_new = dot(R, x_axis)
+ y_new = dot(R, y_axis)
+ z_new = dot(R, z_axis)
+
+ # Print out.
+ print("Rotated and true axes (beta = pi/4):")
+ print(("x rot: %s" % x_new))
+ print(("x real: %s\n" % x_real))
+ print(("y rot: %s" % y_new))
+ print(("y real: %s\n" % y_real))
+ print(("z rot: %s" % z_new))
+ print(("z real: %s\n" % z_real))
+
+ # Checks.
+ for i in range(3):
+ self.assertAlmostEqual(x_new[i], x_real[i])
+ self.assertAlmostEqual(y_new[i], y_real[i])
+ self.assertAlmostEqual(z_new[i], z_real[i])
+
+
+ def test_R_euler_zyz_alpha_30(self):
"""Test the rotation matrix from zyz Euler angle conversion using a
beta angle of pi/4."""
# Generate the rotation matrix.
R = zeros((3, 3), float64)
- R_euler_zyz(R, 0.0, 0.0, pi/12)
+ R_euler_zyz(R, pi/6, 0.0, 0.0)
# Axes.
x_axis = array([1, 0, 0], float64)
@@ -392,8 +423,8 @@
z_axis = array([0, 0, 1], float64)
# Rotated axis (real values).
- x_real = array([cos(pi/12), sin(pi/12), 0], float64)
- y_real = array([-sin(pi/12), cos(pi/12), 0], float64)
+ x_real = array([cos(pi/6), sin(pi/6), 0], float64)
+ y_real = array([-sin(pi/6), cos(pi/6), 0], float64)
z_real = array([0, 0, 1], float64)
# Rotation.
@@ -422,8 +453,8 @@
z_axis = array([0, 0, -1], float64)
# Rotated axis (real values).
- x_real = array([-cos(pi/12), -sin(pi/12), 0], float64)
- y_real = array([sin(pi/12), -cos(pi/12), 0], float64)
+ x_real = array([-cos(pi/6), -sin(pi/6), 0], float64)
+ y_real = array([sin(pi/6), -cos(pi/6), 0], float64)
z_real = array([0, 0, -1], float64)
# Rotation.
@@ -444,14 +475,15 @@
for i in range(3):
self.assertEqual(x_new[i], x_real[i])
self.assertEqual(y_new[i], y_real[i])
-
-
- def test_R_euler_zyz_alpha_15_gamma_15(self):
+ self.assertEqual(z_new[i], z_real[i])
+
+
+ def test_R_euler_zyz_beta_45(self):
"""Test the rotation matrix from zyz Euler angle conversion using a
beta angle of pi/4."""
# Generate the rotation matrix.
R = zeros((3, 3), float64)
- R_euler_zyz(R, pi/12, 0.0, pi/12)
+ R_euler_zyz(R, 0.0, pi/4, 0.0)
# Axes.
x_axis = array([1, 0, 0], float64)
@@ -459,9 +491,9 @@
z_axis = array([0, 0, 1], float64)
# Rotated axis (real values).
- x_real = array([cos(pi/6), sin(pi/6), 0], float64)
- y_real = array([-sin(pi/6), cos(pi/6), 0], float64)
- z_real = array([0, 0, 1], float64)
+ x_real = array([cos(pi/4), 0, -sin(pi/4)], float64)
+ y_real = array([0, 1, 0], float64)
+ z_real = array([sin(pi/4), 0, cos(pi/4)], float64)
# Rotation.
x_new = dot(R, x_axis)
@@ -489,6 +521,141 @@
z_axis = array([0, 0, -1], float64)
# Rotated axis (real values).
+ x_real = array([-cos(pi/4), 0, sin(pi/4)], float64)
+ y_real = array([0, -1, 0], float64)
+ z_real = array([-sin(pi/4), 0, -cos(pi/4)], float64)
+
+ # Rotation.
+ x_new = dot(R, x_axis)
+ y_new = dot(R, y_axis)
+ z_new = dot(R, z_axis)
+
+ # Print out.
+ print("Rotated and true axes (beta = pi/4):")
+ print(("x rot: %s" % x_new))
+ print(("x real: %s\n" % x_real))
+ print(("y rot: %s" % y_new))
+ print(("y real: %s\n" % y_real))
+ print(("z rot: %s" % z_new))
+ print(("z real: %s\n" % z_real))
+
+ # Checks.
+ for i in range(3):
+ self.assertEqual(x_new[i], x_real[i])
+ self.assertEqual(y_new[i], y_real[i])
+ self.assertEqual(z_new[i], z_real[i])
+
+
+ def test_R_euler_zyz_gamma_15(self):
+ """Test the rotation matrix from zyz Euler angle conversion using a
beta angle of pi/4."""
+
+ # Generate the rotation matrix.
+ R = zeros((3, 3), float64)
+ R_euler_zyz(R, 0.0, 0.0, pi/12)
+
+ # Axes.
+ x_axis = array([1, 0, 0], float64)
+ y_axis = array([0, 1, 0], float64)
+ z_axis = array([0, 0, 1], float64)
+
+ # Rotated axis (real values).
+ x_real = array([cos(pi/12), sin(pi/12), 0], float64)
+ y_real = array([-sin(pi/12), cos(pi/12), 0], float64)
+ z_real = array([0, 0, 1], float64)
+
+ # Rotation.
+ x_new = dot(R, x_axis)
+ y_new = dot(R, y_axis)
+ z_new = dot(R, z_axis)
+
+ # Print out.
+ print("Rotated and true axes (beta = pi/4):")
+ print(("x rot: %s" % x_new))
+ print(("x real: %s\n" % x_real))
+ print(("y rot: %s" % y_new))
+ print(("y real: %s\n" % y_real))
+ print(("z rot: %s" % z_new))
+ print(("z real: %s\n" % z_real))
+
+ # Checks.
+ for i in range(3):
+ self.assertEqual(x_new[i], x_real[i])
+ self.assertEqual(y_new[i], y_real[i])
+ self.assertEqual(z_new[i], z_real[i])
+
+ # Axes (do everything again, this time negative!).
+ x_axis = array([-1, 0, 0], float64)
+ y_axis = array([0, -1, 0], float64)
+ z_axis = array([0, 0, -1], float64)
+
+ # Rotated axis (real values).
+ x_real = array([-cos(pi/12), -sin(pi/12), 0], float64)
+ y_real = array([sin(pi/12), -cos(pi/12), 0], float64)
+ z_real = array([0, 0, -1], float64)
+
+ # Rotation.
+ x_new = dot(R, x_axis)
+ y_new = dot(R, y_axis)
+ z_new = dot(R, z_axis)
+
+ # Print out.
+ print("Rotated and true axes (beta = pi/4):")
+ print(("x rot: %s" % x_new))
+ print(("x real: %s\n" % x_real))
+ print(("y rot: %s" % y_new))
+ print(("y real: %s\n" % y_real))
+ print(("z rot: %s" % z_new))
+ print(("z real: %s\n" % z_real))
+
+ # Checks.
+ for i in range(3):
+ self.assertEqual(x_new[i], x_real[i])
+ self.assertEqual(y_new[i], y_real[i])
+
+
+ def test_R_euler_zyz_alpha_15_gamma_15(self):
+ """Test the rotation matrix from zyz Euler angle conversion using a
beta angle of pi/4."""
+
+ # Generate the rotation matrix.
+ R = zeros((3, 3), float64)
+ R_euler_zyz(R, pi/12, 0.0, pi/12)
+
+ # Axes.
+ x_axis = array([1, 0, 0], float64)
+ y_axis = array([0, 1, 0], float64)
+ z_axis = array([0, 0, 1], float64)
+
+ # Rotated axis (real values).
+ x_real = array([cos(pi/6), sin(pi/6), 0], float64)
+ y_real = array([-sin(pi/6), cos(pi/6), 0], float64)
+ z_real = array([0, 0, 1], float64)
+
+ # Rotation.
+ x_new = dot(R, x_axis)
+ y_new = dot(R, y_axis)
+ z_new = dot(R, z_axis)
+
+ # Print out.
+ print("Rotated and true axes (beta = pi/4):")
+ print(("x rot: %s" % x_new))
+ print(("x real: %s\n" % x_real))
+ print(("y rot: %s" % y_new))
+ print(("y real: %s\n" % y_real))
+ print(("z rot: %s" % z_new))
+ print(("z real: %s\n" % z_real))
+
+ # Checks.
+ for i in range(3):
+ self.assertEqual(x_new[i], x_real[i])
+ self.assertEqual(y_new[i], y_real[i])
+ self.assertEqual(z_new[i], z_real[i])
+
+ # Axes (do everything again, this time negative!).
+ x_axis = array([-1, 0, 0], float64)
+ y_axis = array([0, -1, 0], float64)
+ z_axis = array([0, 0, -1], float64)
+
+ # Rotated axis (real values).
x_real = array([-cos(pi/6), -sin(pi/6), 0], float64)
y_real = array([sin(pi/6), -cos(pi/6), 0], float64)
z_real = array([0, 0, -1], float64)
r9477 - /1.3/test_suite/unit_tests/_maths_fns/test_rotation_matrix.py