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Fix GslibAngles implementation #193

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Dec 28, 2023
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Fix GslibAngles implementation #193

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28 changes: 17 additions & 11 deletions src/rotations.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -84,9 +84,13 @@ end
"""
GslibAngles(θ₁, θ₂, θ₃)

GSLIB ZXY rotation convention following the left-hand rule.
All angles are in degrees and the signal convention is CW, CCW, CCW
positive. Y is the principal axis.
GSLIB YXZ rotation convention following the left-hand rule.
All angles are in degrees and the sign convention is CW, CCW, CW positive.
Y is the principal axis.

The first rotation `θ₁` is a rotation around the Z-axis, this is also called the azimuth.
The second rotation `θ₂` is a rotation around the X-axis, this is also called the dip.
The third rotation `θ₃` is a rotation around the Y-axis, this is also called the tilt.

## References

Expand All @@ -103,26 +107,28 @@ end
GslibAngles(θ₁::T, θ₂::T, θ₃::T) where {T} = GslibAngles{T}(θ₁, θ₂, θ₃)
GslibAngles(θ₁, θ₂, θ₃) = GslibAngles(promote(θ₁, θ₂, θ₃)...)

function Base.convert(::Type{R}, rot::RotZYX) where {R<:GslibAngles}
rottype(::Type{<:GslibAngles}) = RotYXZ

function Base.convert(::Type{R}, rot::RotYXZ) where {R<:GslibAngles}
θ₁, θ₂, θ₃ = Rotations.params(rot)
R(rad2deg(θ₃) + 90, rad2deg(θ₂), -rad2deg(θ₁))
R(-rad2deg(θ₃), rad2deg(θ₂), -rad2deg(θ₁))
end

function Base.convert(::Type{R}, rot::GslibAngles) where {R<:RotZYX}
function Base.convert(::Type{R}, rot::GslibAngles) where {R<:RotYXZ}
(; θ₁, θ₂, θ₃) = rot
R(-deg2rad(θ₃), deg2rad(θ₂), deg2rad(θ₁ - 90))
R(-deg2rad(θ₃), deg2rad(θ₂), -deg2rad(θ₁))
end

"""
MinesightAngles(θ₁, θ₂, θ₃)

MineSight YZX rotation convention following the right-hand rule.
MineSight YXZ rotation convention following the right-hand rule.
All angles are in degrees and the sign convention is CW, CCW, CW positive.

The first rotation is a horizontal rotation around the Z-axis, with positive being clockwise.
The second rotation is a rotation around the new X-axis, which moves the Y-axis into the
The first rotation `θ₁` is a horizontal rotation around the Z-axis, with positive being clockwise.
The second rotation `θ₂` is a rotation around the new X-axis, which moves the Y-axis into the
desired position, with positive direction of rotation is up.
The third rotation is a rotation around the new Y-axis, which moves the X-axis into the
The third rotation `θ₃` is a rotation around the new Y-axis, which moves the X-axis into the
desired position, with positive direction of rotation is up.

## References
Expand Down
35 changes: 16 additions & 19 deletions test/rotations.jl
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Expand Up @@ -8,32 +8,31 @@
@test datamine * v₁ ≈ [3.0810411262386967, 1.2425629737653001, 1.7214014158973259]
@test datamine * v₂ ≈ [0.7601180732526871, 0.5597366702348654, 0.09442126195411826]

# GSLIB convention
gslib = GslibAngles(70, -30, 20)

@test gslib * v₁ ≈ [3.0810411262386967, 1.2425629737653001, 1.7214014158973259]
@test gslib * v₂ ≈ [0.7601180732526871, 0.5597366702348654, 0.09442126195411826]

# Vulcan convention
vulcan = VulcanAngles(70, -30, -20)

@test vulcan * v₁ ≈ [3.0810411262386967, 1.2425629737653001, 1.7214014158973259]
@test vulcan * v₂ ≈ [0.7601180732526871, 0.5597366702348654, 0.09442126195411826]

# GSLIB convention
gslib = GslibAngles(30, 15, -15)

@test gslib * v₁ ≈ [3.7410191941252595, -0.034675177060507156, 0.059774754555877996]
@test gslib * v₂ ≈ [0.8592918193713616, 0.4018496819077273, -0.011593201115905286]

# MineSight convention
minisight = MinesightAngles(30, 15, -15)
minesight = MinesightAngles(30, 15, -15)

@test minisight * v₁ ≈ [3.7410191941252595, -0.034675177060507156, 0.059774754555877996]
@test minisight * v₂ ≈ [0.8592918193713616, 0.4018496819077273, -0.011593201115905286]
@test minesight * v₁ ≈ [3.7410191941252595, -0.034675177060507156, 0.059774754555877996]
@test minesight * v₂ ≈ [0.8592918193713616, 0.4018496819077273, -0.011593201115905286]

# comparing conventions
@test datamine ≈ gslib
@test datamine ≈ vulcan
@test gslib ≈ vulcan
@test gslib ≈ minesight

# rotation conversion
rot = RotZXY(0.1, 0.2, 0.3)
@test DatamineAngles(rot) ≈ GslibAngles(rot) ≈ VulcanAngles(rot) ≈ rot
@test DatamineAngles(rot) ≈ VulcanAngles(rot) ≈ rot

θ₁, θ₂, θ₃ = -15, 45, 30
rot = RotZYX(deg2rad(θ₃), -deg2rad(θ₂), deg2rad(θ₁ - 90))
Expand All @@ -44,13 +43,11 @@
vulcan = VulcanAngles(rot)
@test Rotations.params(vulcan) ≈ [θ₁, θ₂, θ₃]

rot = RotZYX(-deg2rad(θ₃), deg2rad(θ₂), deg2rad(θ₁ - 90))
gslib = GslibAngles(rot)
@test Rotations.params(gslib) ≈ [θ₁, θ₂, θ₃]

θ₁, θ₂, θ₃ = 30, 15, -15
rot = RotYXZ(-deg2rad(θ₃), deg2rad(θ₂), -deg2rad(θ₁))
minisight = MinesightAngles(rot)
@test minisight ≈ rot
@test Rotations.params(minisight) ≈ [θ₁, θ₂, θ₃]
gslib = GslibAngles(rot)
minesight = MinesightAngles(rot)
@test gslib ≈ minesight ≈ rot
@test Rotations.params(gslib) ≈ [θ₁, θ₂, θ₃]
@test Rotations.params(minesight) ≈ [θ₁, θ₂, θ₃]
end