Merge pull request #28 from BerkeleyAutomation/merge/compat

Improved python3 compatibility for points and point cloud division

Author: mjd3

autolab_core/points.py

@@ -346,6 +346,14 @@ def __rmul__(self, mult):
         return self.__mul__(mult)
 
     def __div__(self, div):
+        """A python2 compatibility wrapper."""
+        return self.__truediv__(div)
+
+    def __rdiv__(self, div):
+        """A python2 compatibility wrapper."""
+        return self.__rtruediv__(div)
+
+    def __truediv__(self, div):
         """Divide the point by a scalar.
 
         Parameters
@@ -367,6 +375,28 @@ def __div__(self, div):
             raise ValueError('Type %s not supported. Only scalar division is supported' %(type(div)))
         return self.__mul__(1.0 / div)
 
+    def __rtruediv__(self, div):
+        """Divide the scalar by a point.
+
+        Parameters
+        ----------
+        div : float
+            The number by which the Point is divided.
+
+        Returns
+        -------
+        :obj:`Point3D`
+            A 3D point created by the division. 
+
+        Raises
+        ------
+        ValueError
+            If div is not a scalar value.
+        """
+        if isinstance(div, numbers.Number):
+            return Point(div / self._data, self._frame)
+        raise ValueError('Type %s not supported. Only scalar division is supported' %(type(div)))
+
     @staticmethod
     def open(filename, frame='unspecified'):
         """Create a Point from data saved in a file.
@@ -792,6 +822,14 @@ def __rmul__(self, mult):
         return self.__mul__(mult)
 
     def __div__(self, div):
+        """A python2 compatibility wrapper."""
+        return self.__truediv__(div)
+    
+    def __rdiv__(self, div):
+        """A python2 compatibility wrapper."""
+        return self.__rtruediv__(div)
+
+    def __truediv__(self, div):
         """Divide each point in the cloud by a scalar.
 
         Parameters
@@ -813,6 +851,28 @@ def __div__(self, div):
             raise ValueError('Type %s not supported. Only scalar division is supported' %(type(div)))
         return self.__mul__(1.0 / div)
 
+    def __rtruediv__(self, div):
+        """Divide a scalar by each point in the cloud.
+
+        Parameters
+        ----------
+        div : float
+            The number by which the PointCloud is divided.
+
+        Returns
+        -------
+        :obj:`PointCloud`
+            A PointCloud created by the division.
+
+        Raises
+        ------
+        ValueError
+            If div is not a scalar value.
+        """
+        if isinstance(div, numbers.Number):
+            return PointCloud(div / self._data, self._frame)
+        raise ValueError('Type %s not supported. Only scalar division is supported' %(type(div)))
+
     @staticmethod
     def open(filename, frame='unspecified'):
         """Create a PointCloud from data saved in a file.
@@ -1210,4 +1270,3 @@ def remove_zero_points(self):
                                       (np.isfinite(self.normal_cloud.data[0,:])))[0]
         self.point_cloud._data = self.point_cloud.data[:, points_of_interest]
         self.normal_cloud._data = self.normal_cloud.data[:, points_of_interest]
-

tests/test_points.py

@@ -103,6 +103,31 @@ def test_inits(self, num_points=10):
         except ValueError as e:
             caught_bad_init = True
         self.assertTrue(caught_bad_init, msg='Failed to catch rgb cloud init with 4xN array')
+    
+    def test_divs(self, num_points=10):
+        data = np.random.rand(3, num_points)
+        p_a = PointCloud(data, 'a')
+        p_b = Point(np.random.rand(3), 'b')
+
+        # div on left
+        p_a_int = p_a / 5
+        assert np.allclose(p_a_int._data, p_a._data / 5)
+        p_a_float = p_a / 2.5
+        assert np.allclose(p_a_float._data, p_a._data / 2.5)
+        p_b_int = p_b / 5
+        assert np.allclose(p_b_int._data, p_b._data / 5)
+        p_b_float = p_b / 2.5
+        assert np.allclose(p_b_float._data, p_b._data / 2.5)
+
+        # div on right
+        p_a_int = 5 / p_a
+        assert np.allclose(p_a_int._data, 5 / p_a._data)
+        p_a_float = 2.5 / p_a
+        assert np.allclose(p_a_float._data, 2.5 / p_a._data)
+        p_b_int = 5 / p_b
+        assert np.allclose(p_b_int._data, 5 / p_b._data)
+        p_b_float = 2.5 / p_b
+        assert np.allclose(p_b_float._data, 2.5 / p_b._data)
 
 if __name__ == '__main__':
     unittest.main()