Commit 62455a7f authored by Jesse Mapel's avatar Jesse Mapel Committed by GitHub
Browse files

Changed old scipy rotation calls to new ones (#399) 

* Changed old scipy rotation calls to new ones

* Updated scipy pinning
parent 653b67be

ale/drivers/lro_drivers.py

+2 −2
Original line number Original line Diff line number Diff line
@@ -271,7 +271,7 @@ class LroLrocPds3LabelNaifSpiceDriver(LineScanner, NaifSpice, Pds3Label, Driver) 
        position = state[:3]

        position = state[:3]

        velocity = state[3:]

        velocity = state[3:]

        rotation = frame_chain.compute_rotation(1, lro_bus_id)

        rotation = frame_chain.compute_rotation(1, lro_bus_id)

        rotated_velocity = spice.mxv(rotation._rots.as_dcm()[0], velocity)

        rotated_velocity = spice.mxv(rotation._rots.as_matrix()[0], velocity)

        return rotated_velocity[0]

        return rotated_velocity[0]
@@ -507,7 +507,7 @@ class LroLrocIsisLabelNaifSpiceDriver(LineScanner, NaifSpice, IsisLabel, Driver) 
        position = state[:3]

        position = state[:3]

        velocity = state[3:]

        velocity = state[3:]

        rotation = frame_chain.compute_rotation(1, lro_bus_id)

        rotation = frame_chain.compute_rotation(1, lro_bus_id)

        rotated_velocity = spice.mxv(rotation._rots.as_dcm()[0], velocity)

        rotated_velocity = spice.mxv(rotation._rots.as_matrix()[0], velocity)

        return rotated_velocity[0]

        return rotated_velocity[0]

ale/rotation.py

+3 −3
Original line number Original line Diff line number Diff line
@@ -32,7 +32,7 @@ class ConstantRotation: 
        --------

        --------

        scipy.spatial.transform.Rotation.from_dcm

        scipy.spatial.transform.Rotation.from_dcm

        """

        """

        rot = Rotation.from_dcm(mat)

        rot = Rotation.from_matrix(mat)

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

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





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

    def __init__(self, quat, source, dest):
@@ -82,7 +82,7 @@ class ConstantRotation: 
        """

        """

        The rotation matrix representation of the constant rotation

        The rotation matrix representation of the constant rotation

        """

        """

        return self._rot.as_dcm()

        return self._rot.as_matrix()





    def inverse(self):

    def inverse(self):

        """

        """
@@ -370,7 +370,7 @@ class TimeDependentRotation: 
            skew = np.array([[0, -avs[indx, 2], avs[indx, 1]],

            skew = np.array([[0, -avs[indx, 2], avs[indx, 1]],

                             [avs[indx, 2], 0, -avs[indx, 0]],

                             [avs[indx, 2], 0, -avs[indx, 0]],

                             [-avs[indx, 1], avs[indx, 0], 0]])

                             [-avs[indx, 1], avs[indx, 0], 0]])

            rot_deriv = np.dot(skew, rots[indx].as_dcm().T).T

            rot_deriv = np.dot(skew, rots[indx].as_matrix().T).T

            rotated_vel[indx] = rots[indx].apply(vec_vel[indx])

            rotated_vel[indx] = rots[indx].apply(vec_vel[indx])

            rotated_vel[indx] += np.dot(rot_deriv, vec_pos[indx])

            rotated_vel[indx] += np.dot(rot_deriv, vec_pos[indx])

environment.yml

+1 −1
Original line number Original line Diff line number Diff line
@@ -14,7 +14,7 @@ dependencies: 
  - pytz

  - pytz

  - python

  - python

  - python-dateutil

  - python-dateutil

  - scipy

  - scipy>=1.4.0

  - spiceypy>=2.3.0

  - spiceypy>=2.3.0

  - pyyaml

  - pyyaml

  - networkx
 
  - networkx

recipe/meta.yaml

+1 −1
Original line number Original line Diff line number Diff line
@@ -28,7 +28,7 @@ requirements: 
    - python

    - python

    - python-dateutil

    - python-dateutil

    - pytz

    - pytz

    - scipy >=1.2.0

    - scipy >=1.4.0

    - spiceypy >=2.3.0

    - spiceypy >=2.3.0

    - pyyaml

    - pyyaml

tests/pytests/test_isis_spice_drivers.py

+1 −1
Original line number Original line Diff line number Diff line
@@ -512,7 +512,7 @@ 
#     test_cube._body_orientation_table['Rotations'] = [[1.0/np.sqrt(2), 1.0/np.sqrt(2), 0, 0]]

#     test_cube._body_orientation_table['Rotations'] = [[1.0/np.sqrt(2), 1.0/np.sqrt(2), 0, 0]]

#     #Overwrite the instrument pointing, which is (0, 1, 2, 3) at this point

#     #Overwrite the instrument pointing, which is (0, 1, 2, 3) at this point

#     test_cube._inst_pointing_table["Rotations"] = [[1.0/np.sqrt(2), 0, 1.0/np.sqrt(2), 0]]

#     test_cube._inst_pointing_table["Rotations"] = [[1.0/np.sqrt(2), 0, 1.0/np.sqrt(2), 0]]

#     print('inverse body rotation', test_cube._body_j2k2bf_rotation.inv().as_dcm())

#     print('inverse body rotation', test_cube._body_j2k2bf_rotation.inv().as_matrix())

#     np.testing.assert_almost_equal(test_cube._sensor_orientation, np.asarray([1/2, -1/2, -1/2, -1/2]))

#     np.testing.assert_almost_equal(test_cube._sensor_orientation, np.asarray([1/2, -1/2, -1/2, -1/2]))

#

#

# def test_body_orientation(test_cube):

# def test_body_orientation(test_cube):