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Copy pathtest_geom3d.py
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executable file
·320 lines (249 loc) · 9.16 KB
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#!/usr/bin/env python3
# -*- coding: utf-8 -*-
"""
Created on Sun Jul 5 14:37:24 2020
@author: corkep
"""
from spatialmath.geom3d import *
from spatialmath.pose3d import SE3
import unittest
import numpy.testing as nt
import spatialmath.base as base
class Line3Test(unittest.TestCase):
# Primitives
def test_constructor1(self):
# construct from 6-vector
with self.assertRaises(ValueError):
L = Line3([1, 2, 3, 4, 5, 6], check=True)
L = Line3([1, 2, 3, 4, 5, 6], check=False)
self.assertIsInstance(L, Line3)
nt.assert_array_almost_equal(L.v, np.r_[1, 2, 3])
nt.assert_array_almost_equal(L.w, np.r_[4, 5, 6])
# construct from object
L2 = Line3(L, check=False)
self.assertIsInstance(L, Line3)
nt.assert_array_almost_equal(L2.v, np.r_[1, 2, 3])
nt.assert_array_almost_equal(L2.w, np.r_[4, 5, 6])
# construct from point and direction
L = Line3.PointDir([1, 2, 3], [4, 5, 6])
self.assertTrue(L.contains([1, 2, 3]))
nt.assert_array_almost_equal(L.uw, base.unitvec([4, 5, 6]))
def test_vec(self):
# verify double
L = Line3([1, 2, 3, 4, 5, 6], check=False)
nt.assert_array_almost_equal(L.vec, np.r_[1, 2, 3, 4, 5, 6])
def test_constructor2(self):
# 2, point constructor
P = np.r_[2, 3, 7]
Q = np.r_[2, 1, 0]
L = Line3.Join(P, Q)
nt.assert_array_almost_equal(L.w, P - Q)
nt.assert_array_almost_equal(L.v, np.cross(P - Q, Q))
# TODO, all combos of list and ndarray
# test all possible input shapes
# L2, = Line3(P, Q)
# self.assertEqual(double(L2), double(L))
# L2, = Line3(P, Q')
# self.assertEqual(double(L2), double(L))
# L2, = Line3(P', Q')
# self.assertEqual(double(L2), double(L))
# L2, = Line3(P, Q)
# self.assertEqual(double(L2), double(L))
# # planes constructor
# P = [10, 11, 12]'; w = [1, 2, 3]
# L = Line3.PointDir(P, w)
# self.assertEqual(double(L), [cross(w,P) w]'); %FAIL
# L2, = Line3.PointDir(P', w)
# self.assertEqual(double(L2), double(L))
# L2, = Line3.PointDir(P, w')
# self.assertEqual(double(L2), double(L))
# L2, = Line3.PointDir(P', w')
# self.assertEqual(double(L2), double(L))
def test_pp(self):
# validate pp and ppd
L = Line3.Join([-1, 1, 2], [1, 1, 2])
nt.assert_array_almost_equal(L.pp, np.r_[0, 1, 2])
self.assertEqual(L.ppd, math.sqrt(5))
# validate pp
self.assertTrue(L.contains(L.pp))
def test_contains(self):
P = [2, 3, 7]
Q = [2, 1, 0]
L = Line3.Join(P, Q)
# validate contains
self.assertTrue(L.contains([2, 3, 7]))
self.assertTrue(L.contains([2, 1, 0]))
self.assertFalse(L.contains([2, 1, 4]))
def test_closest(self):
P = [2, 3, 7]
Q = [2, 1, 0]
L = Line3.Join(P, Q)
p, d = L.closest_to_point(P)
nt.assert_array_almost_equal(p, P)
self.assertAlmostEqual(d, 0)
# validate closest with given points and origin
p, d = L.closest_to_point(Q)
nt.assert_array_almost_equal(p, Q)
self.assertAlmostEqual(d, 0)
L = Line3.Join([-1, 1, 2], [1, 1, 2])
p, d = L.closest_to_point([0, 1, 2])
nt.assert_array_almost_equal(p, np.r_[0, 1, 2])
self.assertAlmostEqual(d, 0)
p, d = L.closest_to_point([5, 1, 2])
nt.assert_array_almost_equal(p, np.r_[5, 1, 2])
self.assertAlmostEqual(d, 0)
p, d = L.closest_to_point([0, 0, 0])
nt.assert_array_almost_equal(p, L.pp)
self.assertEqual(d, L.ppd)
p, d = L.closest_to_point([5, 1, 0])
nt.assert_array_almost_equal(p, [5, 1, 2])
self.assertAlmostEqual(d, 2)
def test_plot(self):
P = [2, 3, 7]
Q = [2, 1, 0]
L = Line3.Join(P, Q)
fig = plt.figure()
ax = fig.add_subplot(111, projection="3d", proj_type="ortho")
ax.set_xlim3d(-10, 10)
ax.set_ylim3d(-10, 10)
ax.set_zlim3d(-10, 10)
L.plot(color="red", linewidth=2)
def test_eq(self):
w = np.r_[1, 2, 3]
P = np.r_[-2, 4, 3]
L1 = Line3.Join(P, P + w)
L2 = Line3.Join(P + 2 * w, P + 5 * w)
L3 = Line3.Join(P + np.r_[1, 0, 0], P + w)
self.assertTrue(L1 == L2)
self.assertFalse(L1 == L3)
self.assertFalse(L1 != L2)
self.assertTrue(L1 != L3)
def test_skew(self):
P = [2, 3, 7]
Q = [2, 1, 0]
L = Line3.Join(P, Q)
m = L.skew()
self.assertEqual(m.shape, (4, 4))
nt.assert_array_almost_equal(m + m.T, np.zeros((4, 4)))
def test_rmul(self):
P = [1, 2, 0]
Q = [1, 2, 10] # vertical line through (1,2)
L = Line3.Join(P, Q)
# check transformation by SE3
L2 = SE3() * L
p = L2.intersect_plane([0, 0, 1, 0])[0] # intersects z=0
nt.assert_array_almost_equal(p, [1, 2, 0])
L2 = SE3(2, 0, 0) * L # shift line in the x direction
p = L2.intersect_plane([0, 0, 1, 0])[0] # intersects z=0
nt.assert_array_almost_equal(p, [3, 2, 0])
L2 = SE3(0, 2, 0) * L # shift line in the y direction
p = L2.intersect_plane([0, 0, 1, 0])[0] # intersects z=0
nt.assert_array_almost_equal(p, [1, 4, 0])
L2 = SE3.Rx(np.pi / 2) * L # rotate line about x-axis, now horizontal
nt.assert_array_almost_equal(L2.uw, [0, -1, 0])
def test_parallel(self):
L1 = Line3.PointDir([4, 5, 6], [1, 2, 3])
L2 = Line3.PointDir([5, 5, 6], [1, 2, 3])
L3 = Line3.PointDir([4, 5, 6], [3, 2, 1])
# L1, || L2, but doesnt intersect
# L1, intersects L3
self.assertTrue(L1.isparallel(L1))
self.assertTrue(L1 | L1)
self.assertTrue(L1.isparallel(L2))
self.assertTrue(L1 | L2)
self.assertTrue(L2.isparallel(L1))
self.assertTrue(L2 | L1)
self.assertFalse(L1.isparallel(L3))
self.assertFalse(L1 | L3)
def test_intersect(self):
L1 = Line3.PointDir([4, 5, 6], [1, 2, 3])
L2 = Line3.PointDir([5, 5, 6], [1, 2, 3])
L3 = Line3.PointDir([4, 5, 6], [0, 0, 1])
L4 = Line3.PointDir([5, 5, 6], [1, 0, 0])
# L1, || L2, but doesnt intersect
# L3, intersects L4
self.assertFalse(
L1 ^ L2,
)
self.assertTrue(
L3 ^ L4,
)
def test_commonperp(self):
L1 = Line3.PointDir([4, 5, 6], [0, 0, 1])
L2 = Line3.PointDir([6, 5, 6], [0, 1, 0])
self.assertFalse(L1 | L2)
self.assertFalse(L1 ^ L2)
self.assertEqual(L1.distance(L2), 2)
L = L1.commonperp(L2) # common perp intersects both lines
self.assertTrue(L ^ L1)
self.assertTrue(L ^ L2)
def test_line(self):
# mindist
# intersect
# char
# intersect_volume
# mindist
# mtimes
# or
# side
pass
def test_contains(self):
P = [2, 3, 7]
Q = [2, 1, 0]
L = Line3.Join(P, Q)
self.assertTrue(L.contains(L.point(0)))
self.assertTrue(L.contains(L.point(1)))
self.assertTrue(L.contains(L.point(-1)))
def test_point(self):
P = [2, 3, 7]
Q = [2, 1, 0]
L = Line3.Join(P, Q)
nt.assert_array_almost_equal(L.point(0).flatten(), L.pp)
for x in (-2, 0, 3):
nt.assert_array_almost_equal(L.lam(L.point(x)), x)
def test_char(self):
P = [2, 3, 7]
Q = [2, 1, 0]
L = Line3.Join(P, Q)
s = str(L)
self.assertIsInstance(s, str)
def test_plane(self):
xyplane = [0, 0, 1, 0]
xzplane = [0, 1, 0, 0]
L = Line3.TwoPlanes(xyplane, xzplane) # x axis
nt.assert_array_almost_equal(L.vec, np.r_[0, 0, 0, -1, 0, 0])
L = Line3.Join([-1, 2, 3], [1, 2, 3])
# line at y=2,z=3
x6 = [1, 0, 0, -6] # x = 6
# plane_intersect
p, lam = L.intersect_plane(x6)
nt.assert_array_almost_equal(p, np.r_[6, 2, 3])
nt.assert_array_almost_equal(L.point(lam).flatten(), np.r_[6, 2, 3])
x6s = Plane3.PointNormal(n=[1, 0, 0], p=[6, 0, 0])
p, lam = L.intersect_plane(x6s)
nt.assert_array_almost_equal(p, np.r_[6, 2, 3])
nt.assert_array_almost_equal(L.point(lam).flatten(), np.r_[6, 2, 3])
def test_methods(self):
# intersection
px = Line3.Join([0, 0, 0], [1, 0, 0])
# x-axis
py = Line3.Join([0, 0, 0], [0, 1, 0])
# y-axis
px1 = Line3.Join([0, 1, 0], [1, 1, 0])
# offset x-axis
self.assertEqual(px.ppd, 0)
self.assertEqual(px1.ppd, 1)
nt.assert_array_almost_equal(px1.pp, [0, 1, 0])
px.intersects(px)
px.intersects(py)
px.intersects(px1)
# def test_intersect(self):
# px = Line3([0, 0, 0], [1, 0, 0]); # x-axis
# py = Line3([0, 0, 0], [0, 1, 0]); # y-axis
#
# plane.d = [1, 0, 0]; plane.p = 2; # plane x=2
#
# px.intersect_plane(plane)
# py.intersect_plane(plane)
if __name__ == "__main__":
unittest.main()