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Test: add unit tests for Matrix4D::decompose()

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wmayer
2023-10-19 15:00:46 +02:00
committed by wwmayer
parent 2265198ffe
commit 334ca6a416
3 changed files with 123 additions and 0 deletions
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55
src/Mod/Test/BaseTests.py
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@@ -363,6 +363,61 @@ class AlgebraTestCase(unittest.TestCase):
p.Rotation.Angle = math.pi / 2
self.assertEqual(abs(p.inverse().Rotation.Angle), p.Rotation.Angle)
def testDecomposeScale(self):
mat = FreeCAD.Matrix()
mat.scale(FreeCAD.Vector(2, 3, 4))
res = mat.decompose()
self.assertTrue(res[0].isUnity())
self.assertEqual(res[1], mat)
self.assertTrue(res[2].isUnity())
self.assertTrue(res[3].isUnity())
def testDecomposeRotation(self):
mat = FreeCAD.Matrix()
mat.rotateX(1)
mat.rotateY(1)
mat.rotateZ(1)
res = mat.decompose()
self.assertTrue(res[0].isUnity())
self.assertTrue(res[1].isUnity(1e-12))
self.assertEqual(res[2], mat)
self.assertTrue(res[3].isUnity())
def testDecomposeMove(self):
mat = FreeCAD.Matrix()
mat.move(FreeCAD.Vector(1, 2, 3))
res = mat.decompose()
self.assertTrue(res[0].isUnity())
self.assertTrue(res[1].isUnity())
self.assertTrue(res[2].isUnity())
self.assertEqual(res[3], mat)
def testMatrixDecompose(self):
mat = FreeCAD.Matrix()
mat.A21 = 1.0
mat.A14 = 1.0
mat.A24 = 2.0
mat.A34 = 3.0
res = mat.decompose()
mul = res[3] * res[2] * res[1] * res[0]
self.assertEqual(mul, mat)
# shearing
self.assertAlmostEqual(res[0].determinant(), 1.0)
# scaling
self.assertEqual(res[1].hasScale(), FreeCAD.ScaleType.NonUniformLeft)
# rotation
rot1 = FreeCAD.Rotation(res[2])
rot2 = FreeCAD.Rotation(FreeCAD.Vector(0, 0, 1), 45)
self.assertTrue(rot1.isSame(rot2, 1e-12))
# translation
plm = FreeCAD.Placement(res[3])
self.assertEqual(plm.Base, FreeCAD.Vector(1, 2, 3))
def testYawPitchRoll(self):
def getYPR1(yaw, pitch, roll):
r = FreeCAD.Rotation()