1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
|
## Automatically adapted for numpy.oldnumeric Jul 23, 2007 by
from mglutil.regression import testplus
from FlexTree.FTMotions import FTMotion_RotationAboutAxis, FTMotion_Hinge
import numpy.oldnumeric as Numeric
def diff(res, expect):
return res-expect < 1.0e-6 # close enough -> true
def rotateObject():
from mglutil.math.rotax import rotax
from math import sin, cos, pi, sqrt, fabs
import numpy.oldnumeric as N
import random
degtorad = pi/180.
point1 = [random.random()*8-4, random.random()*8-4.,random.random()*10-5]
point2 = [random.random()*8-4, random.random()*8-4.,random.random()*10-5.]
angle = random.random()*360.
transf = rotax(point1, point2, angle*degtorad, transpose=1)
from mglutil.math.rotax import mat_to_axis_angle
vector , pp, angle = mat_to_axis_angle(transf)
from FlexTree.FTMotions import FTMotion_Hinge
motion = FTMotion_Hinge(axis={'vector':vector,'point':pp})
motion.configure(angle=angle)
m1=Numeric.array(motion.getMatrix()).ravel()
m2=transf.ravel()
bSame = True
for i in range(len(m1)):
if fabs(m1[i]-m2[i]) > 1e-4:
bSame = False
assert bSame, True
def test_rotateObject():
for i in range(10):
rotateObject()
harness = testplus.TestHarness( __name__,
funs = testplus.testcollect( globals()),
)
if __name__ == '__main__':
print harness
sys.exit( len( harness))
|
