Commit 3733a3dd authored by Jesse Mapel's avatar Jesse Mapel Committed by GitHub
Browse files

Added support for rotations from Euler angles and rotation matrices (#197) 

* Added support for rotations from Euler angles

* Fixed doc string indent

* Added from matrix

* Added see also to docs
parent ea0bb03c

ale/rotation.py

+47 −1
Original line number Diff line number Diff line
@@ -16,6 +16,26 @@ class ConstantRotation: 
           The NAIF ID code for the destination frame

    """



    def from_matrix(mat, source, dest):

        """

        Create a constant rotation from a directed cosine matrix



        Parameters

        ----------

        mat : 2darray

              The rotation matrix

        source : int

                 The NAIF ID code for the source frame

        dest : int

               The NAIF ID code for the destination frame



        See Also

        --------

        scipy.spatial.transform.Rotation.from_dcm

        """

        rot = Rotation.from_dcm(mat)

        return ConstantRotation(rot.as_quat(), source, dest)



    def __init__(self, quat, source, dest):

        """

        Construct a constant rotation
@@ -104,9 +124,35 @@ class TimeDependentRotation: 
           The NAIF ID code for the destination frame

    """



    def from_euler(sequence, euler, times, source, dest):

        """

        Create a time dependent rotation from a set of Euler angles.



        Parameters

        ----------

        sequence : string

                   The axis sequence that the Euler angles are applied in. I.E. 'XYZ'

                   or 'ZXZ'.

        euler : 2darray

                2D numpy array of the euler angle rotations in radians.

        times : array

                The time for each rotation in euler. This array must be sorted

                in ascending order.

        source : int

                 The NAIF ID code for the source frame

        dest : int

               The NAIF ID code for the destination frame



        See Also

        --------

        scipy.spatial.transform.Rotation.from_euler

        """

        rot = Rotation.from_euler(sequence, np.asarray(euler))

        return TimeDependentRotation(rot.as_quat(), times, source, dest)



    def __init__(self, quats, times, source, dest):

        """

        Construct a constant rotation

        Construct a time dependent rotation



        Parameters

        ----------

tests/pytests/test_rotation.py

+22 −0
Original line number Diff line number Diff line
@@ -89,3 +89,25 @@ def test_rotation_matrix(): 
    mat = rot.rotation_matrix()

    assert isinstance(mat, np.ndarray)

    assert mat.shape == (3, 3)



def test_from_euler():

    angles = [[np.pi/2, np.pi/2, 0],

              [-np.pi/2, -np.pi/2, 0]]

    times = [0, 1]

    seq = 'XYZ'

    rot = TimeDependentRotation.from_euler(seq, angles, times, 0, 1)

    expected_quats = np.asarray([[0.5, 0.5, 0.5, 0.5], [-0.5, -0.5, 0.5, 0.5]])

    np.testing.assert_almost_equal(rot.quats, expected_quats)

    np.testing.assert_equal(rot.times, np.asarray(times))

    assert rot.source == 0

    assert rot.dest == 1



def test_from_matrix():

    mat = [[0, 0, 1],

           [1, 0 ,0],

           [0, 1, 0]]

    rot = ConstantRotation.from_matrix(mat, 0, 1)

    expected_quats = np.asarray([0.5, 0.5, 0.5, 0.5])

    np.testing.assert_almost_equal(rot.quat, expected_quats)

    assert rot.source == 0

    assert rot.dest == 1