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Create rotation from any matrix

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To help find a matrix components a decompose method is added to Matrix class
This commit is contained in:
Jolbas
2023-03-23 01:03:07 +01:00
committed by Chris Hennes
parent d7fcbc79a8
commit 2d8c280528
7 changed files with 111 additions and 76 deletions
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57
src/Mod/Test/BaseTests.py
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@@ -266,31 +266,20 @@ class AlgebraTestCase(unittest.TestCase):
self.assertNotEqual(m2, m4 * m3, "Wrong multiplication order")
def testRotationFromMatrix(self):
m1 = FreeCAD.Matrix()
m1.rotateZ(0.2)
m1.scale(0.5)
m1.rotateY(0.2)
m1.scale(3)
m1.move(10, 5, -3)
r1 = FreeCAD.Rotation(m1)
m2 = FreeCAD.Matrix()
m2.rotateZ(0.2)
m2.rotateY(0.2)
m2.move(10, 5, -3)
r2 = FreeCAD.Rotation(m2)
self.assertTrue(r1.isSame(r2, 1e-7), "Scale on matrix influenced rotation")
m3 = FreeCAD.Matrix()
m3.scale(-1)
r3 = FreeCAD.Rotation(m3)
r0 = FreeCAD.Rotation()
self.assertTrue(r3.isSame(r0, 1e-7), "Scale on matrix influenced rotation")
m4 = FreeCAD.Matrix()
m4.scale(1.25, 1.0, 0.25)
m4.move(4, 5, 6)
r24 = FreeCAD.Rotation(m2 * m4)
r42 = FreeCAD.Rotation(m4 * m2)
self.assertTrue(r2.isSame(r24, 1e-7), "Scale on matrix influenced rotation")
self.assertTrue(r2.isSame(r42, 1e-7), "Scale on matrix influenced rotation")
rot = FreeCAD.Rotation(45,30,0)
m_r = rot.toMatrix()
m_r.move(5,6,7)
m_s = FreeCAD.Matrix()
m_s.scale(1,1,3)
m_s.move(7,3,2)
target_rot = FreeCAD.Rotation(45,60,0)
err = "Non uniform scale has wrong affect non orthogonal rotation"
self.assertTrue(FreeCAD.Rotation(m_s * m_r).isSame(target_rot, 1e-12), err)
err = "Right multiplication with non uniform scale must not affect rotation"
self.assertTrue(FreeCAD.Rotation(m_r * m_s).isSame(rot,1e-12), err)
m_r.scale(-2)
err = "Uniform scale must not affect rotation"
self.assertTrue(FreeCAD.Rotation(m_r).isSame(rot,1e-12), err)
def testRotation(self):
r = FreeCAD.Rotation(1, 0, 0, 0) # 180 deg around (1,0,0)
@@ -374,24 +363,6 @@ class AlgebraTestCase(unittest.TestCase):
p.Rotation.Angle = math.pi / 2
self.assertEqual(abs(p.inverse().Rotation.Angle), p.Rotation.Angle)
def testMatrixToRotationFailure(self):
mat = FreeCAD.Matrix()
mat.A21 = 1.0
with self.assertRaises(ValueError):
FreeCAD.Placement(mat)
with self.assertRaises(ValueError):
FreeCAD.Rotation(mat)
with self.assertRaises(ValueError):
FreeCAD.Rotation(*mat.A)
with self.assertRaises(ValueError):
FreeCAD.Rotation(1, 1, 0, 0, 1, 0, 0, 0, 1)
with self.assertRaises(ValueError):
rot = FreeCAD.Rotation()
rot.Matrix = FreeCAD.Matrix(1, 1, 0, 0, 1, 0, 0, 0, 1)
with self.assertRaises(ValueError):
plm = FreeCAD.Placement()
rot.Matrix = FreeCAD.Matrix(1, 1, 0, 0, 1, 0, 0, 0, 1)
def testYawPitchRoll(self):
def getYPR1(yaw, pitch, roll):
r = FreeCAD.Rotation()