test_functions.py 文件源码

def test_cross_different_frames():
    assert cross(N.x, A.x) == sin(q1)*A.z
    assert cross(N.x, A.y) == cos(q1)*A.z
    assert cross(N.x, A.z) == -sin(q1)*A.x - cos(q1)*A.y
    assert cross(N.y, A.x) == -cos(q1)*A.z
    assert cross(N.y, A.y) == sin(q1)*A.z
    assert cross(N.y, A.z) == cos(q1)*A.x - sin(q1)*A.y
    assert cross(N.z, A.x) == A.y
    assert cross(N.z, A.y) == -A.x
    assert cross(N.z, A.z) == 0

    assert cross(N.x, A.x) == sin(q1)*A.z
    assert cross(N.x, A.y) == cos(q1)*A.z
    assert cross(N.x, A.x + A.y) == sin(q1)*A.z + cos(q1)*A.z
    assert cross(A.x + A.y, N.x) == -sin(q1)*A.z - cos(q1)*A.z

    assert cross(A.x, C.x) == sin(q3)*C.y
    assert cross(A.x, C.y) == -sin(q3)*C.x + cos(q3)*C.z
    assert cross(A.x, C.z) == -cos(q3)*C.y
    assert cross(C.x, A.x) == -sin(q3)*C.y
    assert cross(C.y, A.x) == sin(q3)*C.x - cos(q3)*C.z
    assert cross(C.z, A.x) == cos(q3)*C.y