import numpy as np
import pytest
from scipy.spatial.transform import Rotation as R
import magpylib as magpy
from magpylib._src.obj_classes.class_BaseTransform import apply_move
from magpylib._src.obj_classes.class_BaseTransform import apply_rotation
@pytest.mark.parametrize(
(
"description",
"old_position",
"displacement",
"new_position",
"start",
),
[
# SCALAR INPUT
("01_ with start='auto'", (0, 0, 0), (1, 2, 3), (1, 2, 3), "auto"),
("02_ with start=0", (1, 2, 3), (1, 2, 3), (2, 4, 6), 0),
("03_ with start=-1", (2, 4, 6), (1, 2, 3), (3, 6, 9), -1),
("04_ pad behind", (3, 6, 9), (-1, -2, -3), [(3, 6, 9), (2, 4, 6)], 1),
(
"05_ whole path",
[(3, 6, 9), (2, 4, 6)],
(-1, -2, -3),
[(2, 4, 6), (1, 2, 3)],
"auto",
),
(
"06_ pad before",
[(2, 4, 6), (1, 2, 3)],
(-1, -2, -3),
[(1, 2, 3), (1, 2, 3), (0, 0, 0)],
-3,
),
(
"07_ whole path starting in the middle",
[(1, 2, 3), (1, 2, 3), (0, 0, 0)],
(1, 2, 3),
[(1, 2, 3), (2, 4, 6), (1, 2, 3)],
1,
),
(
"08_ whole path starting in the middle with negative start",
[(1, 2, 3), (2, 4, 6), (1, 2, 3)],
(1, 2, 3),
[(1, 2, 3), (3, 6, 9), (2, 4, 6)],
-2,
),
# VECTOR INPUT
(
"17_ vector + start=0: simple append",
(0, 0, 0),
[(1, 2, 3)],
[(0, 0, 0), (1, 2, 3)],
"auto",
),
(
"18_ vector + start in middle: merge",
[(0, 0, 0), (1, 2, 3)],
[(1, 2, 3)],
[(0, 0, 0), (2, 4, 6)],
1,
),
(
"19_ vector + start in middle: merge + pad behind",
[(0, 0, 0), (2, 4, 6)],
[(-1, -2, -3), (-2, -4, -6)],
[(0, 0, 0), (1, 2, 3), (0, 0, 0)],
1,
),
(
"20_ vector + start before: merge + pad before",
[(0, 0, 0), (1, 2, 3), (0, 0, 0)],
[(1, 2, 3), (1, 2, 3)],
[(1, 2, 3), (1, 2, 3), (1, 2, 3), (0, 0, 0)],
-4,
),
],
)
def test_apply_move(description, old_position, displacement, new_position, start):
"""v4 path functionality tests"""
print(description)
s = magpy.Sensor(position=old_position)
apply_move(s, displacement, start=start)
np.testing.assert_array_equal(s.position, np.array(new_position))
@pytest.mark.parametrize(
(
"description",
"old_position",
"new_position",
"old_orientation_rotvec",
"rotvec_to_apply",
"new_orientation_rotvec",
"start",
"anchor",
),
[
# SCALAR INPUT
(
"01_ with start='auto'",
(0, 0, 0),
(0, 0, 0),
(0, 0, 0),
(0.1, 0.2, 0.3),
(0.1, 0.2, 0.3),
"auto",
None,
),
(
"02_ with start=0",
(0, 0, 0),
(0, 0, 0),
(0.1, 0.2, 0.3),
(0.1, 0.2, 0.3),
(0.2, 0.4, 0.6),
0,
None,
),
(
"03_ with start=-1",
(0, 0, 0),
(0, 0, 0),
(0.2, 0.4, 0.6),
(-0.2, -0.4, -0.6),
(0, 0, 0),
-1,
None,
),
(
"04_ with anchor",
(0, 0, 0),
(1, -1, 0),
(0, 0, 0),
(0, 0, np.pi / 2),
(0, 0, np.pi / 2),
-1,
(1, 0, 0),
),
(
"05_ pad behind",
(1, -1, 0),
[(1, -1, 0), (2, 0, 0)],
(0, 0, np.pi / 2),
(0, 0, np.pi / 2),
[(0, 0, np.pi / 2), (0, 0, np.pi)],
1,
(1, 0, 0),
),
(
"06_ whole path",
[(1, -1, 0), (2, 0, 0)],
[(2, 0, 0), (1, 1, 0)],
[(0, 0, np.pi / 2), (0, 0, np.pi)],
(0, 0, np.pi / 2),
[(0, 0, np.pi), (0, 0, -np.pi / 2)],
"auto",
(1, 0, 0),
),
(
"07_ pad before",
[(2, 0, 0), (1, 1, 0)],
[(1, 1, 0), (1, 1, 0), (0, 0, 0)],
[(0, 0, np.pi), (0, 0, -np.pi / 2)],
(0, 0, np.pi / 2),
[(0, 0, -np.pi / 2), (0, 0, -np.pi / 2), (0, 0, 0)],
-3,
(1, 0, 0),
),
(
"08_ whole path starting in the middle",
[(1, 1, 0), (1, 1, 0), (0, 0, 0)],
[(1, 1, 0), (0, 0, 0), (1, -1, 0)],
[(0, 0, -np.pi / 2), (0, 0, -np.pi / 2), (0, 0, 0)],
(0, 0, np.pi / 2),
[(0, 0, -np.pi / 2), (0, 0, 0), (0, 0, np.pi / 2)],
1,
(1, 0, 0),
),
(
"09_ whole path starting in the middle without anchor",
[(1, 1, 0), (0, 0, 0), (1, -1, 0)],
[(1, 1, 0), (0, 0, 0), (1, -1, 0)],
[(0, 0, -np.pi / 2), (0, 0, 0), (0, 0, np.pi / 2)],
((0, 0, np.pi / 4)),
[(0, 0, -np.pi / 2), (0, 0, np.pi / 4), (0, 0, 3 * np.pi / 4)],
1,
None,
),
# VECTOR INPUT
(
"11_ simple append start=auto behavior",
(0, 0, 0),
[(0, 0, 0), (1, -1, 0)],
(0, 0, 0),
[(0, 0, np.pi / 2)],
[(0, 0, 0), (0, 0, np.pi / 2)],
"auto",
(1, 0, 0),
),
(
"12_ vector + start=0: simple merge",
[(0, 0, 0), (1, -1, 0)],
[(1, -1, 0), (1, -1, 0)],
[(0, 0, 0), (0, 0, np.pi / 2)],
[(0, 0, np.pi / 2)],
[(0, 0, np.pi / 2), (0, 0, np.pi / 2)],
0,
(1, 0, 0),
),
(
"13_ vector + start in middle: merge + pad behind",
[(1, -1, 0), (1, -1, 0)],
[(1, -1, 0), (1, 1, 0), (1, 1, 0)],
[(0, 0, np.pi / 2), (0, 0, np.pi / 2)],
[(0, 0, np.pi), (0, 0, np.pi)],
[(0, 0, np.pi / 2), (0, 0, -np.pi / 2), (0, 0, -np.pi / 2)],
1,
(1, 0, 0),
),
(
"14_ vector + start before: merge + pad before",
[(1, -1, 0), (1, 1, 0), (1, 1, 0)],
[(1, -1, 0), (1, 1, 0), (1, 1, 0), (1, 1, 0)],
[(0, 0, np.pi / 2), (0, 0, -np.pi / 2), (0, 0, -np.pi / 2)],
[(0, 0, 0), (0, 0, np.pi)],
[
(0, 0, np.pi / 2),
(0, 0, -np.pi / 2),
(0, 0, -np.pi / 2),
(0, 0, -np.pi / 2),
],
-4,
(1, 0, 0),
),
],
)
def test_apply_rotation(
description,
old_position,
new_position,
old_orientation_rotvec,
rotvec_to_apply,
new_orientation_rotvec,
start,
anchor,
):
"""v4 path functionality tests"""
print(description)
s = magpy.Sensor(
position=old_position, orientation=R.from_rotvec(old_orientation_rotvec)
)
apply_rotation(s, R.from_rotvec(rotvec_to_apply), start=start, anchor=anchor)
np.testing.assert_allclose(
s.position, np.array(new_position), rtol=1e-05, atol=1e-08
)
np.testing.assert_allclose(
s.orientation.as_matrix(),
R.from_rotvec(new_orientation_rotvec).as_matrix(),
rtol=1e-05,
atol=1e-08,
)