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/////////////////////////////////////////////////////////////
// //
// Copyright (c) 2003-2011 by The University of Queensland //
// Earth Systems Science Computational Centre (ESSCC) //
// http://www.uq.edu.au/esscc //
// //
// Primary Business: Brisbane, Queensland, Australia //
// Licensed under the Open Software License version 3.0 //
// http://www.opensource.org/licenses/osl-3.0.php //
// //
/////////////////////////////////////////////////////////////
#include <boost/version.hpp>
#include <iostream>
#include <sstream>
#include "Python/esys/lsm/util/QuaternionPy.h"
#include "Python/esys/lsm/util/Vec3Py.h"
#include "Foundation/StringUtil.h"
#include "Python/BoostPythonUtil/Util.h"
using namespace boost::python;
using namespace esys::lsm;
namespace esys
{
namespace lsm
{
QuaternionPy::QuaternionPy() : Quaternion()
{
}
QuaternionPy::QuaternionPy(
double q0,
double q1,
double q2,
double q3
) : Quaternion(q0, Vec3(q1, q2, q3))
{
}
QuaternionPy::QuaternionPy(const Vec3Py &v)
: Quaternion(
cos(v.norm()/2.0),
v*(sin(v.norm()/2.0)/v.norm())
)
{
}
QuaternionPy::QuaternionPy(const QuaternionPy &q) : Quaternion(q)
{
}
QuaternionPy::QuaternionPy(const Quaternion &q) : Quaternion(q)
{
}
QuaternionPy::QuaternionPy(const boost::python::object &pyOb)
{
if (esys::lsm::bpu::len(pyOb) == 4)
{
*this =
QuaternionPy(
boost::python::extract<double>(pyOb[0]),
boost::python::extract<double>(pyOb[1]),
boost::python::extract<double>(pyOb[2]),
boost::python::extract<double>(pyOb[3])
);
}
else
{
std::stringstream msg;
msg
<< "Could not extract (q0,q1,q2,q3) elements from: "
<< boost::python::extract<std::string>(boost::python::str(pyOb))();
throw runtime_error(msg.str());
}
}
int QuaternionPy::len() const
{
return 4;
}
int QuaternionPy::getIndex(int i) const
{
const int origI = i;
if (i < 0)
{
i += len();
}
if ((i >= len()) || i < 0)
{
std::stringstream msg;
msg << "Index " << origI << " out of range [0,4)";
PyErr_SetString(PyExc_IndexError, msg.str().c_str());
throw_error_already_set();
}
return i;
}
double QuaternionPy::getItem(int i) const
{
return ((i=getIndex(i)) == 0) ? return_sca() : return_vec()[i-1];
}
void QuaternionPy::setItem(int i, double val)
{
i = getIndex(i);
if (i == 0)
{
set_scalar(val);
}
else
{
Vec3 v = return_vec();
v[i-1] = val;
set_vector(v);
}
}
std::string QuaternionPy::toString() const
{
return StringUtil::toString(*this);
}
boost::python::list QuaternionPy::toList() const
{
boost::python::list l;
l.append(getItem(0));
l.append(getItem(1));
l.append(getItem(2));
l.append(getItem(3));
return l;
}
boost::python::tuple QuaternionPy::toTuple() const
{
return boost::python::tuple(toList());
}
boost::python::tuple
QuaternionPy::PickleSuite::getinitargs(QuaternionPy const& q)
{
return q.toTuple();
}
Vec3Py QuaternionPy::asAngleAxis() const
{
return Vec3Py(Quaternion::asAngleAxis());
}
boost::python::tuple QuaternionPy::asAngleAxisPair() const
{
Quaternion::AngleAxisPair p = Quaternion::asAngleAxisPair();
return boost::python::make_tuple(p.first, Vec3Py(p.second));
}
using boost::python::arg;
void exportQuaternion()
{
// Check that Boost 1.34.0 or higher is being used.
// If so, disable auto-generation of C++ signatures for Epydoc
// (which stumbles over indentation in the auto-generated strings).
#if ((BOOST_VERSION / 100000 >= 1) \
&& (BOOST_VERSION / 100 % 1000 >= 34)) \
|| (BOOST_VERSION / 100000 >= 2)
boost::python::docstring_options no_autogen(true,false);
#endif
class_<esys::lsm::QuaternionPy>(
"Quaternion",
"A quaternion.",
init<>()
)
.def(init<const object &>())
.def(init<const Vec3Py &>())
.def(init<const QuaternionPy &>())
.def(
init<double,double,double,double>(
(arg("q0"), arg("q1"), arg("q2"), arg("q3") ),
"Constructs quaternion with specifed component values.\n"
"@type q0: float\n"
"@kwarg q0: Scalar part, index 0.\n"
"@type q1: float\n"
"@kwarg q1: index 1\n"
"@type q2: float\n"
"@kwarg q2: index 2\n"
"@type q3: float\n"
"@kwarg q3: index 3\n"
)
)
.def(
"normalise",
&QuaternionPy::normalize,
"Normalises this quaternion.\n"
)
.def(
"normalize",
&QuaternionPy::normalize,
"Normalizes this quaternion.\n"
)
.def(
"asAngleAxis",
&QuaternionPy::asAngleAxis,
"Returns angle and axis rotation representation, where"
" angle is the magnitude of the returned "
" L{Vec3<esys.lsm.util.Vec3>} object.\n"
"@rtype: L{Vec3<esys.lsm.util.Vec3>}\n"
"@return: angle and axis rotation representation."
)
.def(
"asAngleAxisPair",
&QuaternionPy::asAngleAxis,
"Returns angle and axis rotation representation as a"
" two element tuple, the first element is the"
" angle and the second element is the"
" L{Vec3<esys.lsm.util.Vec3>} axis.\n"
"@rtype: (float, L{Vec3<esys.lsm.util.Vec3>})\n"
"@return: angle and axis rotation tuple-pair."
)
.def(self_ns::str(self))
.def(boost::python::self == boost::python::self)
.def("__len__", &QuaternionPy::len)
.def("__getitem__", &QuaternionPy::getItem)
.def("__setitem__", &QuaternionPy::setItem)
.def(
"toList",
&QuaternionPy::toList,
"Returns a python list of 4 elements.\n"
"@rtype: list of four floats\n"
"@return: C{[self[0],self[1],self[2],self[3]]}"
)
.def(
"toTuple",
&QuaternionPy::toTuple,
"Returns a python tuple of 4 elements.\n"
"@rtype: tuple of four floats\n"
"@return: C{(self[0],self[1],self[2],self[3])}"
)
.def_pickle(QuaternionPy::PickleSuite())
;
}
}
}
std::ostream &operator<<(std::ostream &oStream, const esys::lsm::QuaternionPy &quat)
{
oStream
<< quat.return_sca() << " "
<< quat.return_vec()[0] << " "
<< quat.return_vec()[1] << " "
<< quat.return_vec()[2];
return oStream;
}
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