Added sanityCheck.py, a script used to find the error when I was converting...

Added sanityCheck.py, a script used to find the error when I was converting this python script to a sequence program

git-svn-id: https://subversion.xray.aps.anl.gov/kmp/transform/trunk@542 f095f811-4e88-6c84-d33e-e382bdb4531c

sanityCheck.py

+#!/usr/bin/env python
+
+#start this with epd python:  /APSshare/epd/rh5-x86/bin/python labTransform.py
+# /APSshare/epd/rh5-x86_64/bin/python labTransform.py
+
+from numpy import matrix, sin, cos, degrees, radians
+import math
+
+sinTh = 0.0
+cosTh = 0.0
+sinPhi = 0.0
+cosPhi = 0.0
+sinChi = 0.0
+cosPhi = 0.0
+
+def fwdTrans(m_positions, t_positions):
+  """ """
+  m_matrix = matrix(m_positions)
+  m_matrix.shape=3,1
+  th, phi, chi = [radians(x) for x in t_positions]
+  Rth = matrix([[cos(th), -sin(th), 0], [sin(th), cos(th), 0], [0, 0, 1]])
+  Rphi = matrix([[1, 0, 0],[0, cos(phi), -sin(phi)],[0, sin(phi), cos(phi)]])
+  Rchi = matrix([[sin(chi), 0, -cos(chi)], [0, 1, 0], [cos(chi), 0, sin(chi)]])
+  
+  R = Rth * Rchi * Rphi
+  print R
+  retval = R * m_matrix
+
+  #!print retval
+  retval.shape=1,3
+
+  return retval.tolist()[0]
+
+# Transform soft coordinates into real coordinates
+def invTrans(tm_positions, t_positions):
+  """ """
+  tm_matrix = matrix(tm_positions)
+  tm_matrix.shape=3,1
+  th, phi, chi = [radians(x) for x in t_positions]
+  Rth = matrix([[cos(th), -sin(th), 0], [sin(th), cos(th), 0], [0, 0, 1]])
+  Rphi = matrix([[1, 0, 0],[0, cos(phi), -sin(phi)],[0, sin(phi), cos(phi)]])
+  Rchi = matrix([[sin(chi), 0, -cos(chi)], [0, 1, 0], [cos(chi), 0, sin(chi)]])
+
+  R = Rth * Rchi * Rphi
+
+  # Inverse (R.I) is the same as the transpose (R.T) for rotations
+  print R.T
+  retval = R.T * tm_matrix
+  retval.shape=1,3
+  #!print "retval",retval.tolist()
+
+  return retval.tolist()[0]
+
+def doTrig(th, phi, chi):
+  global sinTh, cosTh, sinPhi, cosPhi, sinChi, cosChi
+  sinTh = math.sin( th * math.pi / 180.0 )
+  cosTh = math.cos( th * math.pi / 180.0 )
+  sinPhi = math.sin( phi * math.pi / 180.0 )
+  cosPhi = math.cos( phi * math.pi / 180.0 )
+  sinChi = math.sin( chi * math.pi / 180.0 )
+  cosChi = math.cos( chi * math.pi / 180.0 )
+
+# fwdTrans
+def calcTM1rbv(m1, m2, m3):
+  global sinTh, cosTh, sinPhi, cosPhi, sinChi, cosChi
+  return ( m1 * (cosTh * sinChi) - m2 * (cosTh * cosChi * sinPhi + sinTh * cosPhi) + m3 * (sinTh * sinPhi - cosTh * cosChi * cosPhi) )
+
+def calcTM2rbv(m1, m2, m3):
+  global sinTh, cosTh, sinPhi, cosPhi, sinChi, cosChi
+  return ( m1 * (sinTh * sinChi) + m2 * (cosTh * cosPhi - sinTh * cosChi * sinPhi) - m3 * (sinTh * cosChi * cosPhi + cosTh * sinPhi) )
+
+def calcTM3rbv(m1, m2, m3):
+  global sinTh, cosTh, sinPhi, cosPhi, sinChi, cosChi
+  return ( m1 * cosChi + m2 * sinChi * sinPhi + m3 * sinChi * cosPhi )
+
+def seqFwdTrans(m_pos, t_pos):
+  doTrig(t_pos[0], t_pos[1], t_pos[2])
+  rv1 = calcTM1rbv(m_pos[0], m_pos[1], m_pos[2])
+  rv2 = calcTM2rbv(m_pos[0], m_pos[1], m_pos[2])
+  rv3 = calcTM3rbv(m_pos[0], m_pos[1], m_pos[2])
+  return [rv1, rv2, rv3]
+
+# invTrans
+def calcM1val(tm1, tm2, tm3):
+  global sinTh, cosTh, sinPhi, cosPhi, sinChi, cosChi
+  # This was my original error
+  #return ( tm1 * cosTh * cosChi + tm2 * sinTh * sinChi + tm3 * cosChi )
+  return ( tm1 * cosTh * sinChi + tm2 * sinTh * sinChi + tm3 * cosChi )
+
+def calcM2val(tm1, tm2, tm3):
+  global sinTh, cosTh, sinPhi, cosPhi, sinChi, cosChi
+  return ( tm3 * (sinChi * sinPhi) - tm1 * (cosTh * cosChi * sinPhi + sinTh * cosPhi) + tm2 * (cosTh * cosPhi - sinTh * cosChi * sinPhi) )
+
+def calcM3val(tm1, tm2, tm3):
+  global sinTh, cosTh, sinPhi, cosPhi, sinChi, cosChi
+  return ( tm1 * (sinTh * sinPhi - cosTh * cosChi * cosPhi) - tm2 * (sinTh * cosChi * cosPhi + cosTh * sinPhi) + tm3 * (sinChi * cosPhi) )
+
+def seqInvTrans(tm_pos, t_pos):
+  doTrig(t_pos[0], t_pos[1], t_pos[2])
+  rv1 = calcM1val(tm_pos[0], tm_pos[1], tm_pos[2])
+  rv2 = calcM2val(tm_pos[0], tm_pos[1], tm_pos[2])
+  rv3 = calcM3val(tm_pos[0], tm_pos[1], tm_pos[2])
+  return [rv1, rv2, rv3]
+
+if __name__ == "__main__":
+  m = [10, 10, 10]
+  t = [0, 0, 0]
+  
+  pyTM = fwdTrans(m, t)
+  seqTM = seqFwdTrans(m, t)
+  
+  print pyTM
+  print seqTM 
+  
+  pyM = invTrans(pyTM, t)
+  seqM = seqInvTrans(seqTM, t)
+  
+  print pyM
+  print seqM 
+
+  print
+  
+  m = [10, 10, 10]
+  t = [30, 30, 30]
+  
+  pyTM = fwdTrans(m, t)
+  seqTM = seqFwdTrans(m, t)
+  
+  print pyTM
+  print seqTM 
+  
+  pyM = invTrans(pyTM, t)
+  seqM = seqInvTrans(seqTM, t)
+  
+  print pyM
+  print seqM 
+