| 1 | #!/usr/bin/python -itt
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| 2 |
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| 3 | import struct
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| 4 | import sys
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| 5 | import numpy as np
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| 6 | from pprint import pprint
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| 7 | import rlcompleter
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| 8 | import readline
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| 9 | readline.parse_and_bind('tab: complete')
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| 10 |
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| 11 |
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| 12 | """
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| 13 | drehmatrix:
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| 14 |
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| 15 | 1 0 0 also in x-richtung wird gedreht mit phi=90 in 0 1 0
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| 16 |
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| 17 | matrix:
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| 18 | 0 0 0 1 0
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| 19 | 1 0 0 0 = 1
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| 20 | 0 0 0 0 0
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| 21 |
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| 22 | also
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| 23 | cos-p 0 0
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| 24 | sin-p 0 0
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| 25 | 0 0 0
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| 26 |
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| 27 | 0 1 0 also y-richtung wird weiter gedreht in -1 0 0
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| 28 |
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| 29 | 0 -1 0
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| 30 | 0 0 0
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| 31 | 0 0 0
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| 32 |
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| 33 | also:
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| 34 | cos-p -sin-p 0 0 -1 0
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| 35 | sin-p cos-p 0 --> 1 0 0
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| 36 | 0 0 0 0 0 0
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| 37 |
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| 38 | damit wird gedreht: 1 0 0 -> 0 1 0 -> -1 0 0 -> 0 -1 0 -> 1 0 0
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| 39 |
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| 40 | nun mit theta = 90 damit wird 0 0 1 zu 1 0 0
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| 41 |
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| 42 | also:
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| 43 | 0 0 1
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| 44 | 0 0 0
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| 45 | 0 0 0
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| 46 |
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| 47 | weiter 1 0 0 --> 0 0 -1
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| 48 |
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| 49 | also:
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| 50 | 0 0 1
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| 51 | 0 0 0
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| 52 | -1 0 0
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| 53 |
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| 54 | und damit klappt auch 0 0 -1 auf -1 0 0 und weiter auf 0 0 1
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| 55 |
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| 56 | das waere jetzt also
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| 57 | cos-p cos-t -sin-p sin-t
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| 58 | sin-p cos-p ?
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| 59 | -sin-t ? cos-t
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| 60 |
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| 61 |
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| 62 | wenn theta = 90 muss auch mit dem einheitsvector in y das richtig passieren
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| 63 | nämlich
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| 64 | 0 1 0 --> 0 0 -1 -->
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| 65 |
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| 66 | """
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| 67 | class Turn( object ):
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| 68 |
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| 69 | def __init__(self, theta, phi):
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| 70 | self.last_result = None
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| 71 |
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| 72 | theta = -theta/180.*np.pi
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| 73 | phi = -phi/180.*np.pi
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| 74 |
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| 75 | c = np.cos
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| 76 | s = np.sin
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| 77 | self.phi = phi
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| 78 | self.theta = theta
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| 79 | p = phi
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| 80 | t = theta
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| 81 |
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| 82 | drehmatrix = np.zeros( (3,3) )
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| 83 | self.r = drehmatrix
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| 84 | r = self.r
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| 85 |
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| 86 | r[0,0] = c(p)*c(t); r[1,0] = -s(p); r[2,0] = s(t)
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| 87 | r[0,1] = s(p); r[1,1] = c(p); r[2,1] = 0
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| 88 | r[0,2] = -s(t); r[1,2] = 0; r[2,2] = c(t)
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| 89 |
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| 90 | print r
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| 91 |
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| 92 |
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| 93 | def __call__( self, vector=None):
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| 94 |
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| 95 | if vector is None and not self.last_result is None:
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| 96 | vector = self.last_result
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| 97 | elif vector is None:
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| 98 | raise ValueError("no argument given")
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| 99 | turned_vector = vector.copy()
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| 100 | t = turned_vector
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| 101 |
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| 102 | for i in range(3):
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| 103 | t[i] = (self.r[i,:] * vector).sum()
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| 104 |
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| 105 |
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| 106 |
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| 107 |
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| 108 | self.last_result = turned_vector
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| 109 | return turned_vector
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| 110 |
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| 111 |
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| 112 | class Turner( object ):
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| 113 | def __init__(self, theta, phi):
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| 114 | self.last_result = None
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| 115 |
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| 116 | theta = -theta/180.*np.pi
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| 117 | phi = -phi/180.*np.pi
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| 118 |
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| 119 | c = np.cos
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| 120 | s = np.sin
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| 121 | self.phi = phi
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| 122 | self.theta = theta
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| 123 | p = phi
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| 124 | t = theta
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| 125 |
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| 126 | drehmatrix = np.zeros( (3,3) )
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| 127 | self.r = drehmatrix
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| 128 | r = self.r
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| 129 |
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| 130 | r[0,0] = c(p)*c(t); r[1,0] = -s(p); r[2,0] = s(t)
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| 131 | r[0,1] = s(p); r[1,1] = c(p); r[2,1] = 0
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| 132 | r[0,2] = -s(t); r[1,2] = 0; r[2,2] = c(t)
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| 133 |
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| 134 | print r
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| 135 |
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| 136 |
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| 137 | def __call__( self, vector=None):
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| 138 |
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| 139 | if vector is None and not self.last_result is None:
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| 140 | vector = self.last_result
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| 141 | elif vector is None:
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| 142 | raise ValueError("no argument given")
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| 143 | turned_vector = vector.copy()
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| 144 | t = turned_vector
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| 145 |
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| 146 | for i in range(3):
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| 147 | t[i] = (self.r[i,:] * vector).sum()
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| 148 |
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| 149 |
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| 150 |
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| 151 |
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| 152 | self.last_result = turned_vector
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| 153 | return turned_vector
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| 154 |
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