o
    Yi                     @   s   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d Zd	d
 Zdd Zdd Zdd Zdd Zdd ZdS )    )productN)assert_allclose)raises)RotationRotationSpline)"_angular_rate_to_rotvec_dot_matrix"_rotvec_dot_to_angular_rate_matrix _matrix_vector_product_of_stacks$_angular_acceleration_nonlinear_term_create_block_3_diagonal_matrixc                  C   s   t jd t jdd} t| }t| }tt|| |  tt|| |  t d}t 	d|d d < tt 
|||dd d S )Nr         r   r   r   V瞯<atol)nprandomseedrandnr   r   r   r	   emptyeyematmul)rvAA_invI_stack r   Y/tmp/pip-target-1s0edx8b/lib/python/scipy/spatial/transform/tests/test_rotation_spline.py'test_angular_rate_to_rotvec_conversions   s   
r   c                  C   s2   t jd t jdd} tt| | ddd d S )Nr   r   r   ҶOɃ;r   )r   r   r   randr   r
   )r   r   r   r    test_angular_rate_nonlinear_term   s
   
r"   c                  C   s  t jd t d} t ddd d d d f | d d < t d}t ddd d d d f  |d d < dt dd }t| ||}tttt |j	d t |j	d  \}}t 
|}t 
|}|d | }|}| }|dk|dk @ }	||	 }||	 }||	 }t d}
||
||f< t d}t d	}t |d | |d |||g| d |d | |d ||g|| d |d
 | |d
 |g||| d
 |d	 | |d	 g|||| d	 |d | gg}t|
|dd d S )Nr   r         
      )r&   r&   r   r   r      r   r    r   )r   r   r   r   aranger   listzipr   shapeasarrayravelzerosr   blockr   )r   Bdbandedklijvaluesmaskfullzeror   refr   r   r   #test_create_block_3_diagonal_matrix(   s>   
"
$




r=   c                  C   s   ddg} t jdg dg dgdd}t| |}|d  |d   }|| d | d   }tg d	}|| d  }||d d d f  }t|| | t||dt|d
 t||dddd d S )Nr   r%   xyz)r   r   r   )r%   i   Tdegreesr#   )r$      r'   r(   gؗҜ<r   )	r   
from_eulerr   inv	as_rotvecr   arrayr   resize)times	rotationsspliner   ratetimes_checkdtrv_refr   r   r   test_spline_2_rotationsR   s   
rP   c                  C   s   t d} tt d}t| |}t dd}t|| ddd t||ddd	d
 t||ddd	d
 t|d ddd t|dddd	d
 t|dddd	d
 d S )Nr%   )r%   r   rB      r#   r   rtolr   gFFg<r   r(   g      @)	r   r)   r   from_rotveconesr   linspacer   rF   )rI   rJ   rK   rM   r   r   r   test_constant_attitudec   s   

rW   c                  C   s@  t g d} g dg dg dg dg}tjd|dd}t| |}t|| jddd| t|d	jddd|d	  d
}||  }|| |  }|| |  }t|d||  dd || d}|| | d}	|| | d}
t|d|	|
  dd || d}|| | d}|| | d}t||dd t||dd d S )N)r   r$   r&      )r%   rX   )r   r$   &   )ir%      )i   rQ   r>   Tr@   r   g:0yE>g      ?g [n<rR   r#   g+=r(   gHz>)r   rG   r   rD   r   r   as_eulerrF   )rI   anglesrJ   rK   hrv0rvmrvpr0rmrpa0amapr   r   r   test_spline_propertiesr   s(   


ri   c                  C   s   t ttdgt  td} tddd}t tt||  td}t tt||  td}d|d< t tt||  td}t|| }t t|dd t t|tddd d S )Ng      ?r%   r$   r(   	   r   rB   )r   
ValueErrorr   r   r   r   r)   reshape)rtsr   r   r   test_error_handling   s   




rp   )	itertoolsr   numpyr   numpy.testingr   pytestr   scipy.spatial.transformr   r   (scipy.spatial.transform._rotation_spliner   r   r	   r
   r   r   r"   r=   rP   rW   ri   rp   r   r   r   r   <module>   s    	*