coordinate rotations

tests/utils/test_coordutils.py

@@ -0,0 +1,35 @@
+import unittest, os
+import numpy as np
+from SimPEG import Utils
+
+tol = 1e-15
+
+class coorUtilsTest(unittest.TestCase):
+
+    def test_crossProd(self):
+        self.assertTrue(np.linalg.norm(Utils.coordutils.crossProd(np.r_[1.,0.,0.],np.r_[0.,1.,0.]) - np.r_[0.,0.,1.]) < tol)
+        self.assertTrue(np.linalg.norm(Utils.coordutils.crossProd(np.r_[0.,1.,0.],np.r_[0.,0.,1.]) - np.r_[1.,0.,0.]) < tol)
+        self.assertTrue(np.linalg.norm(Utils.coordutils.crossProd(np.r_[0.,0.,1.],np.r_[1.,0.,0.]) - np.r_[0.,1.,0.]) < tol)
+
+    def test_rotationMatrixFromNormals(self):
+        v0 = np.random.rand(3)
+        v0 *= 1./np.linalg.norm(v0)
+        v1 = np.random.rand(3)
+        v1 *= 1./np.linalg.norm(v1)
+        Rf = Utils.coordutils.rotationMatrixFromNormals(v0,v1)
+        Ri = Utils.coordutils.rotationMatrixFromNormals(v1,v0)
+
+        self.assertTrue(np.linalg.norm(Utils.mkvc(Rf.dot(v0) - v1)) < tol)
+        self.assertTrue(np.linalg.norm(Utils.mkvc(Ri.dot(v1) - v0)) < tol)
+
+    def test_rotatePointsFromNormals(self):
+        v0 = np.random.rand(3)
+        v0*= 1./np.linalg.norm(v0)
+        v1 = np.random.rand(3) 
+        v1*= 1./np.linalg.norm(v1)   
+
+        self.assertTrue(np.linalg.norm(Utils.mkvc(Utils.coordutils.rotatePointsFromNormals(Utils.mkvc(v0,2).T,v0,v1))-v1) < tol)
+
+if __name__ == '__main__':
+    unittest.main()
+