unit tests for Rotation class

src/Mod/Test/BaseTests.py

@@ -22,7 +22,7 @@
 #*   Juergen Riegel 2004                                                   *
 #***************************************************************************/
 
-import FreeCAD, os, unittest, tempfile
+import FreeCAD, os, unittest, tempfile, math
 
 class ConsoleTestCase(unittest.TestCase):
     def setUp(self):
@@ -178,6 +178,61 @@ class ParameterTestCase(unittest.TestCase):
         self.failUnless(m2==m3*m4    ,"Wrong multiplication order")
         self.failUnless(not m2==m4*m3,"Wrong multiplication order")
 
+    def testRoation(self):
+        r=FreeCAD.Rotation(1,0,0,0) # 180 deg around (1,0,0)
+        self.assertEqual(r.Axis, FreeCAD.Vector(1,0,0))
+        self.assertAlmostEqual(math.fabs(r.Angle), math.fabs(math.pi))
+
+        r=r.multiply(r) # identity
+        self.assertEqual(r.Axis, FreeCAD.Vector(0,0,1))
+        self.assertAlmostEqual(r.Angle, 0)
+
+        r=FreeCAD.Rotation(1,0,0,0)
+        r.Q=(0,0,0,1) # update axis and angle
+        s=FreeCAD.Rotation(0,0,0,1)
+        self.assertEqual(r.Axis, s.Axis)
+        self.assertAlmostEqual(r.Angle, s.Angle)
+        self.assertTrue(r.isSame(s))
+
+        r=FreeCAD.Rotation(1,0,0,0)
+        r.Matrix=FreeCAD.Matrix() # update axis and angle
+        s=FreeCAD.Rotation(0,0,0,1)
+        self.assertEqual(r.Axis, s.Axis)
+        self.assertAlmostEqual(r.Angle, s.Angle)
+        self.assertTrue(r.isSame(s))
+
+        r=FreeCAD.Rotation(1,0,0,0)
+        r.Axes=(FreeCAD.Vector(0,0,1),FreeCAD.Vector(0,0,1)) # update axis and angle
+        s=FreeCAD.Rotation(0,0,0,1)
+        self.assertEqual(r.Axis, s.Axis)
+        self.assertAlmostEqual(r.Angle, s.Angle)
+        self.assertTrue(r.isSame(s))
+
+        #add 360 deg to angle
+        r=FreeCAD.Rotation(FreeCAD.Vector(1,0,0),270)
+        s=FreeCAD.Rotation(FreeCAD.Vector(1,0,0),270+360)
+        self.assertEqual(r.Axis, s.Axis)
+        #self.assertAlmostEqual(r.Angle, s.Angle + 2*math.pi)
+        self.assertTrue(r.isSame(s))
+
+        #subtract 360 deg from angle using Euler angles
+        r=FreeCAD.Rotation(0,0,180)
+        r.invert()
+        s=FreeCAD.Rotation(0,0,-180)
+        self.assertTrue(r.isSame(s))
+
+        #subtract 360 deg from angle using quaternion
+        r=FreeCAD.Rotation(1,0,0,0)
+        s=FreeCAD.Rotation(-1,0,0,0)
+        #angles have the same sign
+        if r.Angle * s.Angle > 0:
+            self.assertEqual(r.Axis, s.Axis*(-1))
+        else:
+            self.assertAlmostEqual(r.Angle, -s.Angle)
+        self.assertTrue(r.isSame(s))
+        r.invert()
+        self.assertTrue(r.isSame(s))
+
     def testBounding(self):
         b=FreeCAD.BoundBox()
         b.setVoid()