
    Ph                         d dl mZ d dlZd dlmZ d dlmZ d dlm	Z	m
Z
 d dlmZmZmZmZmZ d Zd Zd	 Zd
 Zd Zd Zd Zy)    )productN)assert_allclose)raises)RotationRotationSpline)"_angular_rate_to_rotvec_dot_matrix"_rotvec_dot_to_angular_rate_matrix _matrix_vector_product_of_stacks$_angular_acceleration_nonlinear_term_create_block_3_diagonal_matrixc                     t         j                  j                  d       t         j                  j                  dd      } t	        |       }t        |       }t        t        ||       |        t        t        ||       |        t        j                  d      }t        j                  d      |d d  t        t        j                  ||      |d       y )Nr         r   r   r   V瞯<atol)nprandomseedrandnr   r	   r   r
   emptyeyematmul)rvAA_invI_stacks       }C:\Users\daisl\Desktop\realtime-object-detection\venv\Lib\site-packages\scipy/spatial/transform/tests/test_rotation_spline.py'test_angular_rate_to_rotvec_conversionsr       s    IINN1	A	B*2.A.r2E 4Q;R@4UB?D hhy!GGAJBIIa'u=    c                      t         j                  j                  d       t         j                  j                  dd      } t	        t        | |       dd       y )Nr   r   r   ҶOɃ;r   )r   r   r   randr   r   )r   s    r    test_angular_rate_nonlinear_termr%      s?     IINN1	1	B8R@! r!   c                  Z   t         j                  j                  d       t        j                  d      } t        j                  dd      d d d d f   | d d  t        j                  d      }t        j                  dd      d d d d f    |d d  dt        j                  dd      z  }t        | ||      }t        t        t        t        j                  |j                  d         t        j                  |j                  d                      \  }}t        j                  |      }t        j                  |      }|dz
  |z   }|}|j                         }|dk\  |dk  z  }	||	   }||	   }||	   }t        j                  d      }
||
||f<   t        j                  d      }t        j                  d	      }t        j                  |d   |z  |d   |||g| d   |d   |z  |d   ||g|| d   |d
   |z  |d
   |g||| d
   |d	   |z  |d	   g|||| d	   |d   |z  gg      }t        |
|d       y )Nr   r         
      )r*   r*   r   r   r      r   r#   r   )r   r   r   r   aranger   listzipr   shapeasarrayravelzerosr   blockr   )r   Bdbandedklijvaluesmaskfullzeror   refs                 r   #test_create_block_3_diagonal_matrixrA   (   s    IINN1
A99Q?1dD=)AaD
AIIaOAtTM**AaD
RYYr2A,Q15F WRYYv||A7YYv||A79 : ;DAq


1A


1A	A	A	A\\^FFq2vD	$A	$AD\F88HDDAJ88FD
&&)C ((	
1QqT4t,	
1qtcz1Q4t,	qtQqTCZ1t,	tQqT1Q4#:qt,	tT1Q41, C D#E*r!   c                     ddg} t        j                  dg dg dgd      }t        | |      }|d   j                         |d   z  j	                         }|| d   | d   z
  z  }t        j                  g d	      }|| d   z
  }||d d d f   z  }t         ||      j	                         |       t         ||d      t        j                  |d
             t         ||d      dd       y )Nr   r)   xyz)r   r   r   )r)   i   Tdegreesr'   )r(      r+   r,   gؗҜ<r   )	r   
from_eulerr   inv	as_rotvecr   arrayr   resize)times	rotationsspliner   ratetimes_checkdtrv_refs           r   test_spline_2_rotationsrU   R   s    GE##EI}+E,02IE9-F
A,


y|
+	6	6	8BqE!H$%D((;'K	uQx	BBq$wKFF;'113V<F;*BIIdF,CDF;*AE:r!   c                     t        j                  d      } t        j                  t        j                  d            }t        | |      }t        j                  dd      }t         ||      j                         dd       t         ||d      dd	
       t         ||d      dd	
       t         |d      j                         dd       t         |dd      dd	
       t         |dd      dd	
       y )Nr)   )r)   r   rG      r'   r   rtolr   gFFg<r   r,   g      @)	r   r-   r   from_rotveconesr   linspacer   rK   )rN   rO   rP   rR   s       r   test_constant_attituder]   c   s    IIbME$$RWWW%56IE9-F++b"%KF;'113QUCF;*AE:F;*AE:F3K))+QU;F3NAE2F3NAE2r!   c                     t        j                  g d      } g dg dg dg dg}t        j                  d|d      }t	        | |      }t         ||       j                  dd      |       t         |d	      j                  dd      |d	          d
} ||       j                         } || |z
        j                         } || |z         j                         }t        |d||z   z  d        || d      } || |z
  d      }	 || |z   d      }
t        |d|	|
z   z  d        || d      } || |z
  d      } || |z   d      }t        ||d       t        ||d       y )N)r   r(   r*      )r)   r_   )r   r(   &   )ir)      )i   rW   rC   TrE   r   g:0yE>g      ?g [n<rX   r'   g+=r,   gHz>)r   rL   r   rI   r   r   as_eulerrK   )rN   anglesrO   rP   hrv0rvmrvpr0rmrpa0amaps                 r   test_spline_propertiesrp   r   s\   HH^$EJ}EF##E64@IE9-FF5M**5$*?HF1I&&ud&;VAYGA
-
!
!
#C


%
%
'C


%
%
'CCc	*9	q	B		1	B		1	BBrBwe4	q	B		1	B		1	BB&B&r!   c                  z   t        t        t        dgt        j                                t        j                  d      } t        j                  d      j                  dd      }t        t        t        ||        t        j                  d      }t        t        t        ||        t        j                  d      }d|d<   t        t        t        ||        t        j                  d      }t        ||       }t        t        |dd       t        t        |t        j                  d      j                  dd             y )Ng      ?r)   r(   r,   	   r   rG   )r   
ValueErrorr   r   r   r   r-   reshape)rtss      r   test_error_handlingrx      s    
:~uhoo.?@A
		"a#A
:~q!,
		!A
:~q!,
		"AAaD
:~q!,
		"Aq!A
:q"b!
:q"))B-//156r!   )	itertoolsr   numpyr   numpy.testingr   pytestr   scipy.spatial.transformr   r   (scipy.spatial.transform._rotation_spliner   r	   r
   r   r   r    r%   rA   rU   r]   rp   rx    r!   r   <module>r      sB      )  <% %>" '+T;"3':7r!   