mawei/StarPilot
1
0
Fork 0
mirror of https://github.com/firestar5683/StarPilot.git synced 2026-08-21 08:14:00 +08:00
Code Issues Packages Projects Releases Wiki Activity

transformations: move Cython to pure Python (#36830)

Browse Source 
* Remove cython for transformations

* Add new test

* Switch back to program to fix mac builds

* Convert to Python instead

* Fix failing builds

* lint

* Implement conversion in pure python/numpy

* Add more tests

* Fix bugs in tests
This commit is contained in:
Matt Purnell
2026-01-17 00:31:26 -06:00
committed by GitHub
parent 7f8dbf24e7
commit 1f9efd9311
12 changed files with 407 additions and 561 deletions
Download Patch File Download Diff File Expand all files Collapse all files
common/transformations/tests/test_coordinates.py
+33
View File
@@ -102,3 +102,36 @@ class TestNED:
np.testing.assert_allclose(converter.ned2ecef(ned_offsets_batch),
ecef_positions_offset_batch,
rtol=1e-9, atol=1e-7)
def test_errors(self):
# Test wrong shape/type for geodetic2ecef
# numpy_wrap raises IndexError for scalar input
with np.testing.assert_raises(IndexError):
coord.geodetic2ecef(1.0)
with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
coord.geodetic2ecef([0, 0])
with np.testing.assert_raises_regex(ValueError, "Geodetic must be size 3"):
coord.geodetic2ecef([0, 0, 0, 0])
with np.testing.assert_raises(TypeError):
coord.geodetic2ecef(['a', 'b', 'c'])
# Test LocalCoord constructor errors
with np.testing.assert_raises(ValueError):
coord.LocalCoord.from_geodetic([0, 0])
with np.testing.assert_raises(ValueError):
coord.LocalCoord.from_geodetic(1)
with np.testing.assert_raises(TypeError):
coord.LocalCoord.from_geodetic(['a', 'b', 'c'])
# Test wrong shape/type for ecef2geodetic
with np.testing.assert_raises(ValueError):
coord.ecef2geodetic([1, 2])
with np.testing.assert_raises(ValueError):
coord.ecef2geodetic([1, 2, 3, 4])
with np.testing.assert_raises(IndexError):
coord.ecef2geodetic(1.0)
common/transformations/tests/test_orientation.py
+30
View File
@@ -1,4 +1,5 @@
import numpy as np
import pytest
from openpilot.common.transformations.orientation import euler2quat, quat2euler, euler2rot, rot2euler, \
rot2quat, quat2rot, \
@@ -59,3 +60,32 @@ class TestOrientation:
np.testing.assert_allclose(ned_eulers[i], ned_euler_from_ecef(ecef_positions[i], eulers[i]), rtol=1e-7)
#np.testing.assert_allclose(eulers[i], ecef_euler_from_ned(ecef_positions[i], ned_eulers[i]), rtol=1e-7)
# np.testing.assert_allclose(ned_eulers, ned_euler_from_ecef(ecef_positions, eulers), rtol=1e-7)
def test_inputs(self):
with pytest.raises(ValueError):
euler2quat([1, 2])
with pytest.raises(ValueError):
quat2rot([1, 2, 3])
with pytest.raises(IndexError):
rot2quat(np.zeros((2, 2)))
def test_euler_rot_consistency(self):
rpy = [0.1, 0.2, 0.3]
R = euler2rot(rpy)
# R -> q -> R
q = rot2quat(R)
R_new = quat2rot(q)
np.testing.assert_allclose(R, R_new, atol=1e-15)
# q -> R -> Euler (quat2euler) -> R
rpy_new = quat2euler(q)
R_new2 = euler2rot(rpy_new)
np.testing.assert_allclose(R, R_new2, atol=1e-15)
# R -> Euler (rot2euler) -> R
rpy_from_rot = rot2euler(R)
R_new3 = euler2rot(rpy_from_rot)
np.testing.assert_allclose(R, R_new3, atol=1e-15)