Author: bugman
Date: Tue Dec 8 10:55:40 2009
New Revision: 10067
URL: http://svn.gna.org/viewcvs/relax?rev=10067&view=rev
Log:
Converted all the R_to_euler_zyz() unit tests into one.
This will simplify the setup of the unit tests for the other Euler angle
conventions.
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=10067&r1=10066&r2=10067&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 Dec 8
10:55:40 2009
@@ -32,6 +32,10 @@
from maths_fns.rotation_matrix import *
+# Global variables (reusable storage).
+R = zeros((3, 3), float64)
+
+
class Test_rotation_matrix(TestCase):
"""Unit tests for the maths_fns.rotation_matrix relax module."""
@@ -47,6 +51,46 @@
self.x_axis_neg = array([-1, 0, 0], float64)
self.y_axis_neg = array([0, -1, 0], float64)
self.z_axis_neg = array([0, 0, -1], float64)
+
+
+ def check_return_conversion(self, euler_to_R=None, R_to_euler=None,
alpha_start=None, beta_start=None, gamma_start=None, alpha_end=None,
beta_end=None, gamma_end=None):
+ """Test the rotation matrix to zyz Euler angle conversion."""
+
+ # End angles.
+ if alpha_end == None:
+ alpha_end = alpha_start
+ if beta_end == None:
+ beta_end = beta_start
+ if gamma_end == None:
+ gamma_end = gamma_start
+
+ # Print out.
+ print("Original angles:")
+ print(("alpha: %s" % alpha_start))
+ print(("beta: %s" % beta_start))
+ print(("gamma: %s\n" % gamma_start))
+
+ # Generate the rotation matrix.
+ euler_to_R(alpha_start, beta_start, gamma_start, R)
+
+ # Get back the angles.
+ alpha_new, beta_new, gamma_new = R_to_euler(R)
+
+ # Wrap the angles.
+ alpha_new = wrap_angles(alpha_new, 0, 2*pi)
+ beta_new = wrap_angles(beta_new, 0, 2*pi)
+ gamma_new = wrap_angles(gamma_new, 0, 2*pi)
+
+ # Print out.
+ print("New angles:")
+ print(("alpha: %s" % alpha_new))
+ print(("beta: %s" % beta_new))
+ print(("gamma: %s\n" % gamma_new))
+
+ # Checks.
+ self.assertAlmostEqual(alpha_end, alpha_new)
+ self.assertAlmostEqual(beta_end, beta_new)
+ self.assertAlmostEqual(gamma_end, gamma_new)
def check_rotation(self, R, x_real_pos, y_real_pos, z_real_pos,
x_real_neg, y_real_neg, z_real_neg):
@@ -96,7 +140,6 @@
angle = 0.0
# The rotation matrix.
- R = zeros((3, 3), float64)
axis_angle_to_R(axis, angle, R)
print("Rotation matrix:\n%s" % R)
@@ -157,7 +200,6 @@
angle = pi / 6
# Generate the rotation matrix.
- R = zeros((3, 3), float64)
axis_angle_to_R(axis, angle, R)
print("Rotation matrix:\n%s" % R)
@@ -183,7 +225,6 @@
angle = 2 * pi / 3
# Generate the rotation matrix.
- R = zeros((3, 3), float64)
axis_angle_to_R(axis, angle, R)
print("Rotation matrix:\n%s" % R)
@@ -218,7 +259,6 @@
# Init.
axis = zeros(3, float64)
quat = zeros(4, float64)
- R = zeros((3, 3), float64)
# 1) Euler angles to rotation matrix.
euler_zyz_to_R(alpha, beta, gamma, R)
@@ -271,7 +311,6 @@
"""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)
euler_zyz_to_R(pi/6, 0.0, 0.0, R)
# Rotated pos axes (real values).
@@ -292,7 +331,6 @@
"""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)
euler_zyz_to_R(0.0, pi/4, 0.0, R)
# Rotated pos axes (real values).
@@ -313,7 +351,6 @@
"""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)
euler_zyz_to_R(0.0, 0.0, pi/12, R)
# Rotated pos axes (real values).
@@ -334,7 +371,6 @@
"""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)
euler_zyz_to_R(pi/12, 0.0, pi/12, R)
# Rotated pos axes (real values).
@@ -384,303 +420,16 @@
def test_R_to_euler_zyz(self):
"""Test the rotation matrix to zyz Euler angle conversion."""
- # Starting angles.
- alpha = uniform(0, 2*pi)
- beta = uniform(0, pi)
- gamma = uniform(0, 2*pi)
-
- # Print out.
- print("Original angles:")
- print(("alpha: %s" % alpha))
- print(("beta: %s" % beta))
- print(("gamma: %s\n" % gamma))
-
- # Generate the rotation matrix.
- R = zeros((3, 3), float64)
- euler_zyz_to_R(alpha, beta, gamma, R)
-
- # Get back the angles.
- alpha_new, beta_new, gamma_new = R_to_euler_zyz(R)
-
- # Wrap the angles.
- alpha_new = wrap_angles(alpha_new, 0, 2*pi)
- beta_new = wrap_angles(beta_new, 0, 2*pi)
- gamma_new = wrap_angles(gamma_new, 0, 2*pi)
-
- # Print out.
- print("New angles:")
- print(("alpha: %s" % alpha_new))
- print(("beta: %s" % beta_new))
- print(("gamma: %s\n" % gamma_new))
-
- # Checks.
- self.assertAlmostEqual(alpha, alpha_new)
- self.assertAlmostEqual(beta, beta_new)
- self.assertAlmostEqual(gamma, gamma_new)
-
-
- def test_R_to_euler_zyz_a0_b0_g0(self):
- """Test the rotation matrix to zyz Euler angle conversion for {0, 0,
0}."""
-
- # Starting angles.
- alpha = 0.0
- beta = 0.0
- gamma = 0.0
-
- # Print out.
- print("Original angles:")
- print(("alpha: %s" % alpha))
- print(("beta: %s" % beta))
- print(("gamma: %s\n" % gamma))
-
- # Generate the rotation matrix.
- R = zeros((3, 3), float64)
- euler_zyz_to_R(alpha, beta, gamma, R)
-
- # Get back the angles.
- alpha_new, beta_new, gamma_new = R_to_euler_zyz(R)
-
- # Print out.
- print("New angles:")
- print(("alpha: %s" % alpha_new))
- print(("beta: %s" % beta_new))
- print(("gamma: %s\n" % gamma_new))
-
- # Checks.
- self.assertAlmostEqual(alpha, alpha_new)
- self.assertAlmostEqual(beta, beta_new)
- self.assertAlmostEqual(gamma, gamma_new)
-
-
- def test_R_to_euler_zyz_a1_b0_g0(self):
- """Test the rotation matrix to zyz Euler angle conversion for {1, 0,
0}."""
-
- # Starting angles.
- alpha = 1.0
- beta = 0.0
- gamma = 0.0
-
- # Print out.
- print("Original angles:")
- print(("alpha: %s" % alpha))
- print(("beta: %s" % beta))
- print(("gamma: %s\n" % gamma))
-
- # Generate the rotation matrix.
- R = zeros((3, 3), float64)
- euler_zyz_to_R(alpha, beta, gamma, R)
-
- # Get back the angles.
- alpha_new, beta_new, gamma_new = R_to_euler_zyz(R)
-
- # Print out.
- print("New angles:")
- print(("alpha: %s" % alpha_new))
- print(("beta: %s" % beta_new))
- print(("gamma: %s\n" % gamma_new))
-
- # Checks.
- self.assertAlmostEqual(alpha, alpha_new)
- self.assertAlmostEqual(beta, beta_new)
- self.assertAlmostEqual(gamma, gamma_new)
-
-
- def test_R_to_euler_zyz_a0_b1_g0(self):
- """Test the rotation matrix to zyz Euler angle conversion for {0, 1,
0}."""
-
- # Starting angles.
- alpha = 0.0
- beta = 1.0
- gamma = 0.0
-
- # Print out.
- print("Original angles:")
- print(("alpha: %s" % alpha))
- print(("beta: %s" % beta))
- print(("gamma: %s\n" % gamma))
-
- # Generate the rotation matrix.
- R = zeros((3, 3), float64)
- euler_zyz_to_R(alpha, beta, gamma, R)
-
- # Get back the angles.
- alpha_new, beta_new, gamma_new = R_to_euler_zyz(R)
-
- # Print out.
- print("New angles:")
- print(("alpha: %s" % alpha_new))
- print(("beta: %s" % beta_new))
- print(("gamma: %s\n" % gamma_new))
-
- # Checks.
- self.assertAlmostEqual(alpha, alpha_new)
- self.assertAlmostEqual(beta, beta_new)
- self.assertAlmostEqual(gamma, gamma_new)
-
-
- def test_R_to_euler_zyz_a0_b0_g1(self):
- """Test the rotation matrix to zyz Euler angle conversion for {0, 0,
1}."""
-
- # Starting angles.
- alpha = 0.0
- beta = 0.0
- gamma = 1.0
-
- # Print out.
- print("Original angles:")
- print(("alpha: %s" % alpha))
- print(("beta: %s" % beta))
- print(("gamma: %s\n" % gamma))
-
- # Generate the rotation matrix.
- R = zeros((3, 3), float64)
- euler_zyz_to_R(alpha, beta, gamma, R)
-
- # Get back the angles.
- alpha_new, beta_new, gamma_new = R_to_euler_zyz(R)
-
- # Print out.
- print("New angles:")
- print(("alpha: %s" % alpha_new))
- print(("beta: %s" % beta_new))
- print(("gamma: %s\n" % gamma_new))
-
- # Checks.
- self.assertAlmostEqual(alpha+gamma, alpha_new)
- self.assertAlmostEqual(beta, beta_new)
- self.assertAlmostEqual(0.0, gamma_new)
-
-
- def test_R_to_euler_zyz_a1_b1_g0(self):
- """Test the rotation matrix to zyz Euler angle conversion for {1, 1,
0}."""
-
- # Starting angles.
- alpha = 1.0
- beta = 1.0
- gamma = 0.0
-
- # Print out.
- print("Original angles:")
- print(("alpha: %s" % alpha))
- print(("beta: %s" % beta))
- print(("gamma: %s\n" % gamma))
-
- # Generate the rotation matrix.
- R = zeros((3, 3), float64)
- euler_zyz_to_R(alpha, beta, gamma, R)
-
- # Get back the angles.
- alpha_new, beta_new, gamma_new = R_to_euler_zyz(R)
-
- # Print out.
- print("New angles:")
- print(("alpha: %s" % alpha_new))
- print(("beta: %s" % beta_new))
- print(("gamma: %s\n" % gamma_new))
-
- # Checks.
- self.assertAlmostEqual(alpha, alpha_new)
- self.assertAlmostEqual(beta, beta_new)
- self.assertAlmostEqual(gamma, gamma_new)
-
-
- def test_R_to_euler_zyz_a0_b1_g1(self):
- """Test the rotation matrix to zyz Euler angle conversion for {0, 1,
1}."""
-
- # Starting angles.
- alpha = 0.0
- beta = 1.0
- gamma = 1.0
-
- # Print out.
- print("Original angles:")
- print(("alpha: %s" % alpha))
- print(("beta: %s" % beta))
- print(("gamma: %s\n" % gamma))
-
- # Generate the rotation matrix.
- R = zeros((3, 3), float64)
- euler_zyz_to_R(alpha, beta, gamma, R)
-
- # Get back the angles.
- alpha_new, beta_new, gamma_new = R_to_euler_zyz(R)
-
- # Print out.
- print("New angles:")
- print(("alpha: %s" % alpha_new))
- print(("beta: %s" % beta_new))
- print(("gamma: %s\n" % gamma_new))
-
- # Checks.
- self.assertAlmostEqual(alpha, alpha_new)
- self.assertAlmostEqual(beta, beta_new)
- self.assertAlmostEqual(gamma, gamma_new)
-
-
- def test_R_to_euler_zyz_a1_b0_g1(self):
- """Test the rotation matrix to zyz Euler angle conversion for {1, 0,
1}."""
-
- # Starting angles.
- alpha = 1.0
- beta = 0.0
- gamma = 1.0
-
- # Print out.
- print("Original angles:")
- print(("alpha: %s" % alpha))
- print(("beta: %s" % beta))
- print(("gamma: %s\n" % gamma))
-
- # Generate the rotation matrix.
- R = zeros((3, 3), float64)
- euler_zyz_to_R(alpha, beta, gamma, R)
-
- # Get back the angles.
- alpha_new, beta_new, gamma_new = R_to_euler_zyz(R)
-
- # Print out.
- print("New angles:")
- print(("alpha: %s" % alpha_new))
- print(("beta: %s" % beta_new))
- print(("gamma: %s\n" % gamma_new))
-
- # Checks.
- self.assertAlmostEqual(alpha+gamma, alpha_new)
- self.assertAlmostEqual(beta, beta_new)
- self.assertAlmostEqual(0.0, gamma_new)
-
-
- def test_R_to_euler_zyz_a1_b1_g1(self):
- """Test the rotation matrix to zyz Euler angle conversion for {1, 1,
1}."""
-
- # Starting angles.
- alpha = 1.0
- beta = 1.0
- gamma = 1.0
-
- # Print out.
- print("Original angles:")
- print(("alpha: %s" % alpha))
- print(("beta: %s" % beta))
- print(("gamma: %s\n" % gamma))
-
- # Generate the rotation matrix.
- R = zeros((3, 3), float64)
- euler_zyz_to_R(alpha, beta, gamma, R)
-
- # Get back the angles.
- alpha_new, beta_new, gamma_new = R_to_euler_zyz(R)
-
- # Print out.
- print("New angles:")
- print(("alpha: %s" % alpha_new))
- print(("beta: %s" % beta_new))
- print(("gamma: %s\n" % gamma_new))
-
- # Checks.
- self.assertAlmostEqual(alpha, alpha_new)
- self.assertAlmostEqual(beta, beta_new)
- self.assertAlmostEqual(gamma, gamma_new)
+ # Check random numbers, then the problematic angles.
+ self.check_return_conversion(euler_zyz_to_R, R_to_euler_zyz,
uniform(0, 2*pi), uniform(0, pi), uniform(0, 2*pi))
+ self.check_return_conversion(euler_zyz_to_R, R_to_euler_zyz, 0.0,
0.0, 0.0)
+ self.check_return_conversion(euler_zyz_to_R, R_to_euler_zyz, 1.0,
0.0, 0.0)
+ self.check_return_conversion(euler_zyz_to_R, R_to_euler_zyz, 0.0,
1.0, 0.0)
+ self.check_return_conversion(euler_zyz_to_R, R_to_euler_zyz, 0.0,
0.0, 1.0, alpha_end=1.0, gamma_end=0.0)
+ self.check_return_conversion(euler_zyz_to_R, R_to_euler_zyz, 1.0,
1.0, 0.0)
+ self.check_return_conversion(euler_zyz_to_R, R_to_euler_zyz, 0.0,
1.0, 1.0)
+ self.check_return_conversion(euler_zyz_to_R, R_to_euler_zyz, 1.0,
0.0, 1.0, alpha_end=2.0, gamma_end=0.0)
+ self.check_return_conversion(euler_zyz_to_R, R_to_euler_zyz, 1.0,
1.0, 1.0)
def test_R_to_quaternion_no_rot(self):
@@ -909,7 +658,6 @@
quat = array([1, 0, 0, 0], float64)
# The rotation matrix.
- R = zeros((3, 3), float64)
quaternion_to_R(quat, R)
print("Rotation matrix:\n%s" % R)
@@ -949,7 +697,6 @@
self.assertEqual(norm(quat), 1)
# Generate the rotation matrix.
- R = zeros((3, 3), float64)
quaternion_to_R(quat, R)
print("Rotation matrix:\n%s" % R)
@@ -994,7 +741,6 @@
self.assertEqual(norm(quat), 1)
# Generate the rotation matrix.
- R = zeros((3, 3), float64)
quaternion_to_R(quat, R)
print("Rotation matrix:\n%s" % R)
r10067 - /1.3/test_suite/unit_tests/_maths_fns/test_rotation_matrix.py