feat: add Euler Angle class (#129)

* feat: add Euler Angle class * fix: python tests
open-space-collective · Jun 11, 2024 · c836728 · c836728
1 parent ab8d09b
commit c836728
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Showing 57 changed files with 12,388 additions and 895 deletions.
diff --git a/Makefile b/Makefile
@@ -529,10 +529,11 @@ test-unit-python-standalone: ## Run Python unit tests (standalone)
 		--workdir=/app/build \
 		$(docker_development_image_repository):$(docker_image_version) \
 		/bin/bash -c "cmake -DBUILD_PYTHON_BINDINGS=ON -DBUILD_UNIT_TESTS=OFF .. \
-		&& $(MAKE) -j 4 && python3.11 -m pip install --root-user-action=ignore bindings/python/OpenSpaceToolkit*Py-python-package-3.11 \
-		&& python3.11 -m pip install plotly pandas \
-		&& cd /usr/local/lib/python3.11/site-packages/ostk/$(project_name)/ \
-		&& python3.11 -m pytest -sv ."
+		&& $(MAKE) -j 4 \
+		&& python$(jupyter_python_version) -m pip install --root-user-action=ignore bindings/python/OpenSpaceToolkit*Py-python-package-$(jupyter_python_version) \
+		&& python$(jupyter_python_version) -m pip install plotly pandas \
+		&& cd /usr/local/lib/python$(jupyter_python_version)/dist-packages/ostk/$(project_name)/ \
+		&& python$(jupyter_python_version) -m pytest -sv ."
 
 .PHONY: test-unit-python-standalone
 

diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/CurveFitting.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/CurveFitting.cpp
@@ -7,7 +7,6 @@ inline void OpenSpaceToolkitMathematicsPy_CurveFitting(pybind11::module& aModule
     // Create "curve fitting" python submodule
     auto curve_fitting = aModule.def_submodule("curve_fitting");
 
-
     // Add object to python "interpolators" submodules
     OpenSpaceToolkitMathematicsPy_CurveFitting_Interpolator(curve_fitting);
 }
diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/CurveFitting/Interpolator.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/CurveFitting/Interpolator.cpp
@@ -62,7 +62,6 @@ inline void OpenSpaceToolkitMathematicsPy_CurveFitting_Interpolator(pybind11::mo
     // Create "interpolator" python submodule
     auto interpolator = aModule.def_submodule("interpolator");
 
-
     // Add object to python "interpolator" submodules
     OpenSpaceToolkitMathematicsPy_CurveFitting_Interpolator_BarycentricRational(interpolator);
     OpenSpaceToolkitMathematicsPy_CurveFitting_Interpolator_CubicSpline(interpolator);

diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry.cpp
@@ -9,7 +9,6 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry(pybind11::module& aModule)
     // Create "geometry" python submodule
     auto geometry = aModule.def_submodule("geometry");
 
-
     // Add object to python "geometry" submodules
     OpenSpaceToolkitMathematicsPy_Geometry_2D(geometry);
     OpenSpaceToolkitMathematicsPy_Geometry_3D(geometry);

diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/2D.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/2D.cpp
@@ -9,7 +9,6 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_2D(pybind11::module& aModule)
     // Create "d2" python submodule
     auto d2 = aModule.def_submodule("d2");
 
-
     // Add object to python "d2" submodules
     OpenSpaceToolkitMathematicsPy_Geometry_2D_Object(d2);
     OpenSpaceToolkitMathematicsPy_Geometry_2D_Transformation(d2);

diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/2D/Object.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/2D/Object.cpp
@@ -62,7 +62,6 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_2D_Object(pybind11::module &a
     // Create "object" python submodule
     auto object = aModule.def_submodule("object");
 
-
     // Add object to python "object" submodules
     OpenSpaceToolkitMathematicsPy_Geometry_2D_Object_Point(object);
     OpenSpaceToolkitMathematicsPy_Geometry_2D_Object_PointSet(object);

diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D.cpp
@@ -9,7 +9,6 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D(pybind11::module& aModule)
     // Create "d3" python submodule
     auto d3 = aModule.def_submodule("d3");
 
-
     // Add object to python "d3" submodules
     OpenSpaceToolkitMathematicsPy_Geometry_3D_Object(d3);
     OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation(d3);

diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Object.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Object.cpp
@@ -225,7 +225,6 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Object(pybind11::module& a
     // Create "object" python submodule
     auto object = aModule.def_submodule("object");
 
-
     // Add object to python "object" submodules
     OpenSpaceToolkitMathematicsPy_Geometry_3D_Object_Point(object);
     OpenSpaceToolkitMathematicsPy_Geometry_3D_Object_PointSet(object);

diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation.cpp
@@ -64,7 +64,6 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation(pybind11::m
     // Create "transformation" python submodule
     auto transformation_module = aModule.def_submodule("transformation");
 
-
     // Add object to python "transformation" submodules
     OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation_Rotation(transformation_module);
 }
diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation.cpp
@@ -1,5 +1,6 @@
 /// Apache License 2.0
 
+#include <OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/EulerAngle.cpp>
 #include <OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/Quaternion.cpp>
 #include <OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/RotationMatrix.cpp>
 #include <OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/RotationVector.cpp>
@@ -9,9 +10,9 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation_Rotation(py
     // Create "rotation" python submodule
     auto rotation = aModule.def_submodule("rotation");
 
-
     // Add object to python "rotation" submodules
     OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation_Rotation_Quaternion(rotation);
     OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation_Rotation_RotationVector(rotation);
     OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation_Rotation_RotationMatrix(rotation);
+    OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation_Rotation_EulerAngle(rotation);
 }
diff --git a/...thon/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/EulerAngle.cpp b/...thon/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/EulerAngle.cpp
@@ -0,0 +1,90 @@
+/// Apache License 2.0
+
+#include <OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/EulerAngle.hpp>
+#include <OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/Quaternion.hpp>
+#include <OpenSpaceToolkit/Mathematics/Geometry/3D/Transformation/Rotation/RotationMatrix.hpp>
+#include <OpenSpaceToolkit/Mathematics/Geometry/Angle.hpp>
+
+inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation_Rotation_EulerAngle(pybind11::module& aModule)
+{
+    using namespace pybind11;
+
+    using ostk::core::type::Real;
+    using ostk::core::type::String;
+
+    using ostk::mathematics::object::Vector3d;
+    using ostk::mathematics::geometry::Angle;
+    using ostk::mathematics::geometry::d3::transformation::rotation::EulerAngle;
+
+    class_<EulerAngle> eulerAngle(aModule, "EulerAngle");
+
+    eulerAngle
+        // Define constructor
+        .def(
+            init<const Angle&, const Angle&, const Angle&, const EulerAngle::AxisSequence&>(),
+            arg("phi"),
+            arg("theta"),
+            arg("psi"),
+            arg("axis_sequence")
+        )
+        .def(
+            init<const Vector3d&, const Angle::Unit&, const EulerAngle::AxisSequence&>(),
+            arg("vector"),
+            arg("angle_unit"),
+            arg("axis_sequence")
+        )
+
+        // Define methods
+        .def(self == self)
+        .def(self != self)
+
+        .def("__str__", &(shiftToString<EulerAngle>))
+        .def("__repr__", &(shiftToString<EulerAngle>))
+
+        .def("is_defined", &EulerAngle::isDefined)
+        .def("is_unitary", &EulerAngle::isUnitary)
+        .def("is_near", &EulerAngle::isNear, arg("euler_angle"), arg("angular_tolerance"))
+
+        .def_property_readonly("phi", &EulerAngle::getPhi)
+        .def_property_readonly("theta", &EulerAngle::getTheta)
+        .def_property_readonly("psi", &EulerAngle::getPsi)
+        .def_property_readonly("axis_sequence", &EulerAngle::getAxisSequence)
+
+        .def("to_vector", &EulerAngle::toVector, arg("angle_unit"))
+        .def(
+            "to_string",
+            +[](const EulerAngle& aEulerAngle) -> String
+            {
+                return aEulerAngle.toString();
+            }
+        )
+        .def(
+            "to_string",
+            +[](const EulerAngle& aEulerAngle, const Angle::Unit& anAngleUnit) -> String
+            {
+                return aEulerAngle.toString(anAngleUnit);
+            },
+            arg("angle_unit")
+        )
+
+        // Define static methods
+        .def_static("undefined", &EulerAngle::Undefined)
+        .def_static("unit", &EulerAngle::Unit)
+        .def_static("xyz", &EulerAngle::XYZ, arg("phi"), arg("theta"), arg("psi"))
+        .def_static("zxy", &EulerAngle::ZXY, arg("phi"), arg("theta"), arg("psi"))
+        .def_static("zyx", &EulerAngle::ZYX, arg("phi"), arg("theta"), arg("psi"))
+        .def_static("quaternion", &EulerAngle::Quaternion, arg("quaternion"), arg("axis_sequence"))
+        .def_static("rotation_vector", &EulerAngle::RotationVector, arg("rotation_vector"), arg("axis_sequence"))
+        .def_static("rotation_matrix", &EulerAngle::RotationMatrix, arg("rotation_matrix"), arg("axis_sequence"))
+
+        ;
+
+    enum_<EulerAngle::AxisSequence>(eulerAngle, "AxisSequence")
+
+        .value("Undefined", EulerAngle::AxisSequence::Undefined)
+        .value("XYZ", EulerAngle::AxisSequence::XYZ)
+        .value("ZXY", EulerAngle::AxisSequence::ZXY)
+        .value("ZYX", EulerAngle::AxisSequence::ZYX)
+
+        ;
+}
diff --git a/...thon/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/Quaternion.cpp b/...thon/src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/Quaternion.cpp
@@ -147,6 +147,7 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation_Rotation_Qu
         )
         .def_static("rotation_vector", &Quaternion::RotationVector, arg("rotation_vector"))
         .def_static("rotation_matrix", &Quaternion::RotationMatrix, arg("rotation_matrix"))
+        .def_static("euler_angle", &Quaternion::EulerAngle, arg("euler_angle"))
         .def_static("parse", &Quaternion::Parse, arg("string"), arg("format"))
         .def_static("shortest_rotation", &Quaternion::ShortestRotation, arg("first_vector"), arg("second_vector"))
         .def_static("lerp", &Quaternion::LERP, arg("first_quaternion"), arg("second_quaternion"), arg("ratio"))

diff --git a/.../src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/RotationMatrix.cpp b/.../src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/RotationMatrix.cpp
@@ -75,6 +75,7 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation_Rotation_Ro
         .def_static("columns", &RotationMatrix::Columns, arg("first_column"), arg("second_column"), arg("third_column"))
         .def_static("quaternion", &RotationMatrix::Quaternion, arg("quaternion"))
         .def_static("rotation_vector", &RotationMatrix::RotationVector, arg("rotation_vector"))
+        .def_static("euler_angle", &RotationMatrix::EulerAngle, arg("euler_angle"))
 
         ;
 }
diff --git a/.../src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/RotationVector.cpp b/.../src/OpenSpaceToolkitMathematicsPy/Geometry/3D/Transformation/Rotation/RotationVector.cpp
@@ -20,6 +20,7 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation_Rotation_Ro
 
         // Define constructor
         .def(init<const Vector3d&, const Angle&>(), arg("axis"), arg("angle"))
+        .def(init<const Vector3d&, const Angle::Unit&>(), arg("vector"), arg("angle_unit"))
 
         // Define methods
         .def(self == self)
@@ -47,6 +48,14 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation_Rotation_Ro
             }
         )
 
+        .def(
+            "rectify",
+            +[](RotationVector& aRotationVector) -> void
+            {
+                aRotationVector.rectify();
+            }
+        )
+
         // Define static methods
         .def_static("undefined", &RotationVector::Undefined)
         .def_static("unit", &RotationVector::Unit)
@@ -55,6 +64,7 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_3D_Transformation_Rotation_Ro
         .def_static("z", &RotationVector::Z, arg("angle"))
         .def_static("quaternion", &RotationVector::Quaternion, arg("quaternion"))
         .def_static("rotation_matrix", &RotationVector::RotationMatrix, arg("rotation_matrix"))
+        .def_static("euler_angle", &RotationVector::EulerAngle, arg("euler_angle"))
 
         ;
 }
diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/Angle.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Geometry/Angle.cpp
@@ -82,6 +82,8 @@ inline void OpenSpaceToolkitMathematicsPy_Geometry_Angle(pybind11::module& aModu
 
         .def("is_defined", &Angle::isDefined)
         .def("is_zero", &Angle::isZero)
+        .def("is_negative", &Angle::isNegative)
+        .def("is_near", &Angle::isNear, arg("angle"), arg("tolerance"))
 
         .def("get_unit", &Angle::getUnit)
         .def("in_unit", &Angle::in, arg("unit"))

diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Object.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Object.cpp
@@ -9,7 +9,6 @@ inline void OpenSpaceToolkitMathematicsPy_Object(pybind11::module& aModule)
     // Create "object" python submodule
     auto object = aModule.def_submodule("object");
 
-
     // Add object to python "object" submodules
     OpenSpaceToolkitMathematicsPy_Object_Interval(object);
     // OpenSpaceToolkitMathematicsPy_Object_Vector(object) ;

diff --git a/bindings/python/src/OpenSpaceToolkitMathematicsPy/Solver.cpp b/bindings/python/src/OpenSpaceToolkitMathematicsPy/Solver.cpp
@@ -7,7 +7,6 @@ inline void OpenSpaceToolkitMathematicsPy_Solver(pybind11::module& aModule)
     // Create "object" python submodule
     auto solver = aModule.def_submodule("solver");
 
-
     // Add object to python "interpolators" submodules
     OpenSpaceToolkitMathematicsPy_Solver_NumericalSolver(solver);
 }
diff --git a/bindings/python/test/curve_fitting/interpolator/test_barycentric_rational.py b/bindings/python/test/curve_fitting/interpolator/test_barycentric_rational.py
@@ -14,7 +14,7 @@ def interpolator() -> BarycentricRational:
 
 
 class TestBarycentricRational:
-    def test_constructors(self, interpolator: BarycentricRational):
+    def test_constructor_success(self, interpolator: BarycentricRational):
         assert interpolator is not None
         assert isinstance(interpolator, Interpolator)
         assert isinstance(interpolator, BarycentricRational)

diff --git a/bindings/python/test/curve_fitting/interpolator/test_cubic_spline.py b/bindings/python/test/curve_fitting/interpolator/test_cubic_spline.py
@@ -16,7 +16,7 @@ def interpolator() -> CubicSpline:
 
 
 class TestCubicSpline:
-    def test_constructors(self, interpolator: CubicSpline):
+    def test_constructor_success(self, interpolator: CubicSpline):
         assert interpolator is not None
         assert isinstance(interpolator, Interpolator)
         assert isinstance(interpolator, CubicSpline)

diff --git a/bindings/python/test/curve_fitting/interpolator/test_linear.py b/bindings/python/test/curve_fitting/interpolator/test_linear.py
@@ -12,12 +12,11 @@ def interpolator() -> Linear:
 
 
 class TestLinear:
-    def test_constructors(self, interpolator: Linear):
+    def test_constructor_success(self, interpolator: Linear):
         assert interpolator is not None
         assert isinstance(interpolator, Interpolator)
         assert isinstance(interpolator, Linear)
 
-
     def test_evaluate(self):
         interpolator = Linear(
             x=[0.0, 1.0, 2.0, 4.0, 5.0, 6.0], y=[0.0, 3.0, 6.0, 9.0, 17.0, 5.0]

diff --git a/bindings/python/test/geometry/d3/object/test_linestring.py b/bindings/python/test/geometry/d3/object/test_linestring.py
@@ -41,7 +41,9 @@ def test_constructor_success(self):
         assert linestring.is_defined()
 
         # Construction with Array of Points using python numpy array
-        linestring: LineString = LineString(np.array((point_1, point_2, point_3, point_4)))
+        linestring: LineString = LineString(
+            np.array((point_1, point_2, point_3, point_4))
+        )
 
         assert linestring is not None
         assert isinstance(linestring, LineString)