Update Frame, Transformation

CHANGELOG.md

@@ -9,8 +9,21 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 
 ### Added
 
+- Added `matrix_change_basis`, `Transformation.change_basis`
+- Added `matrix_from_frame_to_frame`
+- Added non-numpy versions of `global_coords`, `local_coords`
+- Added static method `Frame.local_to_local_coords`
+- Added `__getitem__`, `__setitem__` and `__eq__` to `Quaternion`
+- Added `Vector.scaled` and `Vector.unitized`
+- Added `transform_frames` and respective helper functions `dehomogenize_and_unflatten_frames`, `homogenize_and_flatten_frames`
+- Added `transform_frames_numpy` and respective helper functions `dehomogenize_and_unflatten_frames_numpy`, `homogenize_and_flatten_frames_numpy`
+
 ### Changed
 
+- Changed parameters `origin` `uvw` of `global_coords_numpy` and `local_coords_numpy` to `frame`
+- Fixed some returns of `Frame` and `Rotation` to use `Vector` or `Quaternion`
+- Methods `Frame.represent_point/vector/frame_in_global_coordinates` and `Frame.represent_point/vector/frame_in_local_coordinates` are now `Frame.local_coords` and `Frame.global_coords` 
+
 ### Removed
 
 

src/compas/geometry/basic.py

@@ -8,6 +8,7 @@
 from random import uniform
 
 __all__ = [
+    'close',
     'allclose',
     'add_vectors',
     'add_vectors_xy',
@@ -59,6 +60,27 @@
 ]
 
 
+def close(value1, value2, tol=1e-05):
+    """Returns True if two values are equal within a tolerance.
+
+    Parameters
+    ----------
+    value1 : float or int
+    value2 : float or int
+    tol : float, optional
+        The tolerance for comparing values.
+        Default is ``1e-05``.
+
+    Examples
+    --------
+    >>> close(1., 1.001)
+    False
+    >>> close(1., 1.001, tol=1e-2)
+    True
+    """
+    return fabs(value1 - value2) < tol
+
+
 def allclose(l1, l2, tol=1e-05):
     """Returns True if two lists are element-wise equal within a tolerance.
 

src/compas/geometry/bbox/bbox_numpy.py

@@ -16,8 +16,8 @@
 # from scipy.spatial import QhullError
 
 from compas.geometry import local_axes
-from compas.geometry import local_coords_numpy
-from compas.geometry import global_coords_numpy
+from compas.geometry import world_to_local_coords_numpy
+from compas.geometry import local_to_world_coords_numpy
 
 
 __all__ = [
@@ -27,7 +27,7 @@
 
 
 def oriented_bounding_box_numpy(points):
-    """Compute the oriented minimum bounding box of a set of points in 3D space.
+    r"""Compute the oriented minimum bounding box of a set of points in 3D space.
 
     Parameters
     ----------
@@ -85,8 +85,8 @@ def oriented_bounding_box_numpy(points):
     >>> a = length_vector(subtract_vectors(bbox[1], bbox[0]))
     >>> b = length_vector(subtract_vectors(bbox[3], bbox[0]))
     >>> c = length_vector(subtract_vectors(bbox[4], bbox[0]))
-    >>> a * b * c
-    30.0
+    >>> close(a * b * c, 30.)
+    True
 
     """
     points = asarray(points)
@@ -114,7 +114,8 @@ def oriented_bounding_box_numpy(points):
         a, b, c = points[simplex]
         uvw = local_axes(a, b, c)
         xyz = points[hull.vertices]
-        rst = local_coords_numpy(a, uvw, xyz)
+        frame = [a, uvw[0], uvw[1]]
+        rst = world_to_local_coords_numpy(frame, xyz)
         dr, ds, dt = ptp(rst, axis=0)
         v = dr * ds * dt
 
@@ -131,7 +132,7 @@ def oriented_bounding_box_numpy(points):
                 [rmax, smax, tmax],
                 [rmin, smax, tmax],
             ]
-            bbox = global_coords_numpy(a, uvw, bbox)
+            bbox = local_to_world_coords_numpy(frame, bbox)
             volume = v
 
     return bbox
@@ -191,7 +192,7 @@ def oriented_bounding_box_xy_numpy(points):
         p1 = points[simplex[1]]
 
         # s direction
-        s  = p1 - p0
+        s = p1 - p0
         sl = sum(s ** 2) ** 0.5
         su = s / sl
         vn = xy_hull - p0
@@ -204,7 +205,7 @@ def oriented_bounding_box_xy_numpy(points):
         b1 = p0 + sc[scmax] * su
 
         # t direction
-        t  = array([-s[1], s[0]])
+        t = array([-s[1], s[0]])
         tl = sum(t ** 2) ** 0.5
         tu = t / tl
         vn = xy_hull - p0
@@ -239,35 +240,15 @@ def oriented_bounding_box_xy_numpy(points):
 if __name__ == "__main__":
 
     import numpy
+    import math
     from compas.geometry import bounding_box
     from compas.geometry import subtract_vectors
     from compas.geometry import length_vector
     from compas.geometry import Rotation
     from compas.geometry import transform_points_numpy
     from compas.geometry import allclose
+    from compas.geometry import close
 
-    points = numpy.random.rand(10000, 3)
-    bottom = numpy.array([[0.0,0.0,0.0], [1.0,0.0,0.0], [0.0,1.0,0.0], [1.0,1.0,0.0]])
-    top = numpy.array([[0.0, 0.0, 1.0], [1.0, 0.0, 1.0], [0.0, 1.0, 1.0], [1.0, 1.0, 1.0]])
-    points = numpy.concatenate((points, bottom, top))
-    points[:, 0] *= 10
-    points[:, 2] *= 3
+    import doctest
+    doctest.testmod(globs=globals())
 
-    bbox = bounding_box(points)
-    a = length_vector(subtract_vectors(bbox[1], bbox[0]))
-    b = length_vector(subtract_vectors(bbox[3], bbox[0]))
-    c = length_vector(subtract_vectors(bbox[4], bbox[0]))
-    v1 = a * b * c
-
-    R = Rotation.from_axis_and_angle([1.0, 1.0, 0.0], 0.5 * 3.14159)
-    points = transform_points_numpy(points, R.matrix)
-
-    bbox = oriented_bounding_box_numpy(points)
-
-    a = length_vector(subtract_vectors(bbox[1], bbox[0]))
-    b = length_vector(subtract_vectors(bbox[3], bbox[0]))
-    c = length_vector(subtract_vectors(bbox[4], bbox[0]))
-    v2 = a * b * c
-
-    print(v1, v2)
-    print(allclose([v1], [v2]))

src/compas/geometry/bestfit/bestfit_numpy.py

@@ -13,8 +13,8 @@
 from scipy.optimize import leastsq
 
 # should this not be defined in a different location?
-from compas.geometry import local_coords_numpy
-from compas.geometry import global_coords_numpy
+from compas.geometry import world_to_local_coords_numpy
+from compas.geometry import local_to_world_coords_numpy
 
 from compas.numerical import pca_numpy
 
@@ -151,7 +151,8 @@ def bestfit_circle_numpy(points):
 
     """
     o, uvw, _ = pca_numpy(points)
-    rst = local_coords_numpy(o, uvw, points)
+    frame = [o, uvw[1], uvw[2]]
+    rst = world_to_local_coords_numpy(frame, points)
     x = rst[:, 0]
     y = rst[:, 1]
 
@@ -172,7 +173,7 @@ def f(c):
 
     print(residu)
 
-    xyz = global_coords_numpy(o, uvw, [[c[0], c[1], 0.0]])[0]
+    xyz = local_to_world_coords_numpy(frame, [[c[0], c[1], 0.0]])[0]
 
     o = xyz.tolist()
     u, v, w = uvw.tolist()

src/compas/geometry/primitives/__init__.py

@@ -7,14 +7,14 @@
 from .point import Point
 from .line import Line
 from .plane import Plane
+from .quaternion import Quaternion
 from .frame import Frame
 
 from .polyline import Polyline
 from .polygon import Polygon
 from .circle import Circle
 from .curve import Bezier
 
-from .quaternion import Quaternion
 
 from .shapes import *