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Fix GslibAngles and MinesightAngles rotations #197

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Jan 29, 2024
Merged

Fix GslibAngles and MinesightAngles rotations #197

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e01b6b8
Fix 'GslibAngles' and 'MinesightAngles' rotations
eliascarv Jan 29, 2024
e0c735e
Merge branch 'master' into fix-intrinsic-rotations
eliascarv Jan 29, 2024
04bce0e
Update tests
eliascarv Jan 29, 2024
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28 changes: 14 additions & 14 deletions src/rotations.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -84,13 +84,13 @@ end
"""
GslibAngles(θ₁, θ₂, θ₃)

GSLIB YXZ rotation convention following the left-hand rule.
GSLIB z-x'-y'' intrinsic 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.
The second rotation `θ₂` is a rotation around the new X-axis, this is also called the dip.
The third rotation `θ₃` is a rotation around the new Y-axis, this is also called the tilt.

## References

Expand All @@ -107,22 +107,22 @@ end
GslibAngles(θ₁::T, θ₂::T, θ₃::T) where {T} = GslibAngles{T}(θ₁, θ₂, θ₃)
GslibAngles(θ₁, θ₂, θ₃) = GslibAngles(promote(θ₁, θ₂, θ₃)...)

rottype(::Type{<:GslibAngles}) = RotYXZ
rottype(::Type{<:GslibAngles}) = RotZXY

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

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

"""
MinesightAngles(θ₁, θ₂, θ₃)

MineSight YXZ rotation convention following the right-hand rule.
MineSight z-x'-y'' intrinsic rotation convention following the right-hand rule.
All angles are in degrees and the sign convention is CW, CCW, CW positive.

The first rotation `θ₁` is a horizontal rotation around the Z-axis, with positive being clockwise.
Expand All @@ -145,14 +145,14 @@ end
MinesightAngles(θ₁::T, θ₂::T, θ₃::T) where {T} = MinesightAngles{T}(θ₁, θ₂, θ₃)
MinesightAngles(θ₁, θ₂, θ₃) = MinesightAngles(promote(θ₁, θ₂, θ₃)...)

rottype(::Type{<:MinesightAngles}) = RotYXZ
rottype(::Type{<:MinesightAngles}) = RotZXY

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

function Base.convert(::Type{R}, rot::MinesightAngles) where {R<:RotYXZ}
function Base.convert(::Type{R}, rot::MinesightAngles) where {R<:RotZXY}
(; θ₁, θ₂, θ₃) = rot
R(-deg2rad(θ₃), deg2rad(θ₂), -deg2rad(θ₁))
R(-deg2rad(θ₁), deg2rad(θ₂), -deg2rad(θ₃))
end
10 changes: 5 additions & 5 deletions test/rotations.jl
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Original file line number Diff line number Diff line change
Expand Up @@ -17,14 +17,14 @@
# 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]
@test gslib * v₁ ≈ [3.6750995527061767, 0.05226610022130146, 0.700650792097261]
@test gslib * v₂ ≈ [0.8312896937156777, 0.422146350014352, 0.17535650627123855]

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

@test minesight * v₁ ≈ [3.7410191941252595, -0.034675177060507156, 0.059774754555877996]
@test minesight * v₂ ≈ [0.8592918193713616, 0.4018496819077273, -0.011593201115905286]
@test minesight * v₁ ≈ [3.6750995527061767, 0.05226610022130146, 0.700650792097261]
@test minesight * v₂ ≈ [0.8312896937156777, 0.422146350014352, 0.17535650627123855]

# comparing conventions
@test datamine ≈ vulcan
Expand All @@ -44,7 +44,7 @@
@test Rotations.params(vulcan) ≈ [θ₁, θ₂, θ₃]

θ₁, θ₂, θ₃ = 30, 15, -15
rot = RotYXZ(-deg2rad(θ₃), deg2rad(θ₂), -deg2rad(θ₁))
rot = RotZXY(-deg2rad(θ₁), deg2rad(θ₂), -deg2rad(θ₃))
gslib = GslibAngles(rot)
minesight = MinesightAngles(rot)
@test gslib ≈ minesight ≈ rot
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