#788 Add __repr__ and __str__ methods to Matrix (#791)

* #788 Add __repr__ and __str__ methods to Matrix

* Shortened code with join & improved test

* Renamed variable and fixed use of join

* Replaced __getitem__ with transposed_list

* Optimized repr and removed str methods

* Cleanup comment

* Increased geom.py code coverage to near 100%

* Reformatted with black 19.10b0 defaults

* Remove the typing import

cadquery/occ_impl/geom.py

@@ -362,6 +362,14 @@ class Matrix:
         else:
             raise IndexError("Out of bounds access into 4x4 matrix: {!r}".format(rc))
 
+    def __repr__(self) -> str:
+        """
+        Generate a valid python expression representing this Matrix
+        """
+        matrix_transposed = self.transposed_list()
+        matrix_str = ",\n        ".join(str(matrix_transposed[i::4]) for i in range(4))
+        return f"Matrix([{matrix_str}])"
+
 
 class Plane(object):
     """A 2D coordinate system in space

tests/test_cad_objects.py

@@ -47,6 +47,11 @@ class TestCadObjects(BaseTest):
         v9.z = 3.0
         self.assertTupleAlmostEquals((1, 2, 3), (v9.x, v9.y, v9.z), 4)
 
+        with self.assertRaises(TypeError):
+            Vector("vector")
+        with self.assertRaises(TypeError):
+            Vector(1, 2, 3, 4)
+
     def testVertex(self):
         """
             Tests basic vertex functions
@@ -66,6 +71,46 @@ class TestCadObjects(BaseTest):
         # OCC uses some approximations
         self.assertAlmostEqual(bb1.xlen, 1.0, 1)
 
+        # Test adding to an existing bounding box
+        v0 = Vertex.makeVertex(0, 0, 0)
+        bb2 = v0.BoundingBox().add(v.BoundingBox())
+
+        bb3 = bb1.add(bb2)
+        self.assertTupleAlmostEquals((2, 2, 2), (bb3.xlen, bb3.ylen, bb3.zlen), 7)
+
+        bb3 = bb2.add((3, 3, 3))
+        self.assertTupleAlmostEquals((3, 3, 3), (bb3.xlen, bb3.ylen, bb3.zlen), 7)
+
+        bb3 = bb2.add(Vector(3, 3, 3))
+        self.assertTupleAlmostEquals((3, 3, 3), (bb3.xlen, bb3.ylen, bb3.zlen), 7)
+
+        # Test 2D bounding boxes
+        bb1 = (
+            Vertex.makeVertex(1, 1, 0)
+            .BoundingBox()
+            .add(Vertex.makeVertex(2, 2, 0).BoundingBox())
+        )
+        bb2 = (
+            Vertex.makeVertex(0, 0, 0)
+            .BoundingBox()
+            .add(Vertex.makeVertex(3, 3, 0).BoundingBox())
+        )
+        bb3 = (
+            Vertex.makeVertex(0, 0, 0)
+            .BoundingBox()
+            .add(Vertex.makeVertex(1.5, 1.5, 0).BoundingBox())
+        )
+        # Test that bb2 contains bb1
+        self.assertEqual(bb2, BoundBox.findOutsideBox2D(bb1, bb2))
+        self.assertEqual(bb2, BoundBox.findOutsideBox2D(bb2, bb1))
+        # Test that neither bounding box contains the other
+        self.assertIsNone(BoundBox.findOutsideBox2D(bb1, bb3))
+
+        # Test creation of a bounding box from a shape - note the low accuracy comparison
+        # as the box is a little larger than the shape
+        bb1 = BoundBox._fromTopoDS(Solid.makeCylinder(1, 1).wrapped, optimal=False)
+        self.assertTupleAlmostEquals((2, 2, 1), (bb1.xlen, bb1.ylen, bb1.zlen), 1)
+
     def testEdgeWrapperCenter(self):
         e = self._make_circle()
 
@@ -276,6 +321,20 @@ class TestCadObjects(BaseTest):
             point.toTuple(), (59 / 7, 55 / 7, 51 / 7), decimal_places
         )
 
+    def testVectorNotImplemented(self):
+        v = Vector(1, 2, 3)
+        with self.assertRaises(NotImplementedError):
+            v.distanceToLine()
+        with self.assertRaises(NotImplementedError):
+            v.projectToLine()
+        with self.assertRaises(NotImplementedError):
+            v.distanceToPlane()
+
+    def testVectorSpecialMethods(self):
+        v = Vector(1, 2, 3)
+        self.assertEqual(repr(v), "Vector: (1.0, 2.0, 3.0)")
+        self.assertEqual(str(v), "Vector: (1.0, 2.0, 3.0)")
+
     def testMatrixCreationAndAccess(self):
         def matrix_vals(m):
             return [[m[r, c] for c in range(4)] for r in range(4)]
@@ -320,7 +379,9 @@ class TestCadObjects(BaseTest):
         ]
         with self.assertRaises(ValueError):
             Matrix(invalid)
-
+        # Test input with invalid type
+        with self.assertRaises(TypeError):
+            Matrix("invalid")
         # Test input with invalid size / nested types
         with self.assertRaises(TypeError):
             Matrix([[1, 2, 3, 4], [1, 2, 3], [1, 2, 3, 4]])
@@ -340,6 +401,77 @@ class TestCadObjects(BaseTest):
         with self.assertRaises(IndexError):
             m["ab"]
 
+        # test __repr__ methods
+        m = Matrix(vals4x4)
+        mRepr = "Matrix([[1.0, 0.0, 0.0, 1.0],\n        [0.0, 1.0, 0.0, 2.0],\n        [0.0, 0.0, 1.0, 3.0],\n        [0.0, 0.0, 0.0, 1.0]])"
+        self.assertEqual(repr(m), mRepr)
+        self.assertEqual(str(eval(repr(m))), mRepr)
+
+    def testMatrixFunctionality(self):
+        # Test rotate methods
+        def matrix_almost_equal(m, target_matrix):
+            for r, row in enumerate(target_matrix):
+                for c, target_value in enumerate(row):
+                    self.assertAlmostEqual(m[r, c], target_value)
+
+        root_3_over_2 = math.sqrt(3) / 2
+        m_rotate_x_30 = [
+            [1, 0, 0, 0],
+            [0, root_3_over_2, -1 / 2, 0],
+            [0, 1 / 2, root_3_over_2, 0],
+            [0, 0, 0, 1],
+        ]
+        mx = Matrix()
+        mx.rotateX(30 * DEG2RAD)
+        matrix_almost_equal(mx, m_rotate_x_30)
+
+        m_rotate_y_30 = [
+            [root_3_over_2, 0, 1 / 2, 0],
+            [0, 1, 0, 0],
+            [-1 / 2, 0, root_3_over_2, 0],
+            [0, 0, 0, 1],
+        ]
+        my = Matrix()
+        my.rotateY(30 * DEG2RAD)
+        matrix_almost_equal(my, m_rotate_y_30)
+
+        m_rotate_z_30 = [
+            [root_3_over_2, -1 / 2, 0, 0],
+            [1 / 2, root_3_over_2, 0, 0],
+            [0, 0, 1, 0],
+            [0, 0, 0, 1],
+        ]
+        mz = Matrix()
+        mz.rotateZ(30 * DEG2RAD)
+        matrix_almost_equal(mz, m_rotate_z_30)
+
+        # Test matrix multipy vector
+        v = Vector(1, 0, 0)
+        self.assertTupleAlmostEquals(
+            mz.multiply(v).toTuple(), (root_3_over_2, 1 / 2, 0), 7
+        )
+
+        # Test matrix multipy matrix
+        m_rotate_xy_30 = [
+            [root_3_over_2, 0, 1 / 2, 0],
+            [1 / 4, root_3_over_2, -root_3_over_2 / 2, 0],
+            [-root_3_over_2 / 2, 1 / 2, 3 / 4, 0],
+            [0, 0, 0, 1],
+        ]
+        mxy = mx.multiply(my)
+        matrix_almost_equal(mxy, m_rotate_xy_30)
+
+        # Test matrix inverse
+        vals4x4 = [[1, 2, 3, 4], [5, 1, 6, 7], [8, 9, 1, 10], [0, 0, 0, 1]]
+        vals4x4_invert = [
+            [-53 / 144, 25 / 144, 1 / 16, -53 / 144],
+            [43 / 144, -23 / 144, 1 / 16, -101 / 144],
+            [37 / 144, 7 / 144, -1 / 16, -107 / 144],
+            [0, 0, 0, 1],
+        ]
+        m = Matrix(vals4x4).inverse()
+        matrix_almost_equal(m, vals4x4_invert)
+
     def testTranslate(self):
         e = Edge.makeCircle(2, (1, 2, 3))
         e2 = e.translate(Vector(0, 0, 1))
@@ -394,6 +526,55 @@ class TestCadObjects(BaseTest):
             Plane(origin=(0, 0, 0), xDir=(1, 0, 0), normal=(0, 1, 1)),
         )
 
+    def testInvalidPlane(self):
+        # Test plane creation error handling
+        with self.assertRaises(ValueError):
+            Plane.named("XX", (0, 0, 0))
+        with self.assertRaises(ValueError):
+            Plane(origin=(0, 0, 0), xDir=(0, 0, 0), normal=(0, 1, 1))
+        with self.assertRaises(ValueError):
+            Plane(origin=(0, 0, 0), xDir=(1, 0, 0), normal=(0, 0, 0))
+
+    def testPlaneMethods(self):
+        # Test error checking
+        p = Plane(origin=(0, 0, 0), xDir=(1, 0, 0), normal=(0, 1, 0))
+        with self.assertRaises(ValueError):
+            p.toLocalCoords("box")
+        with self.assertRaises(NotImplementedError):
+            p.mirrorInPlane([Solid.makeBox(1, 1, 1)], "Z")
+
+        # Test translation to local coordinates
+        local_box = Workplane(p.toLocalCoords(Solid.makeBox(1, 1, 1)))
+        local_box_vertices = [(v.X, v.Y, v.Z) for v in local_box.vertices().vals()]
+        target_vertices = [
+            (0, -1, 0),
+            (0, 0, 0),
+            (0, -1, 1),
+            (0, 0, 1),
+            (1, -1, 0),
+            (1, 0, 0),
+            (1, -1, 1),
+            (1, 0, 1),
+        ]
+        for i, target_point in enumerate(target_vertices):
+            self.assertTupleAlmostEquals(target_point, local_box_vertices[i], 7)
+
+        # Test mirrorInPlane
+        mirror_box = Workplane(p.mirrorInPlane([Solid.makeBox(1, 1, 1)], "Y")[0])
+        mirror_box_vertices = [(v.X, v.Y, v.Z) for v in mirror_box.vertices().vals()]
+        target_vertices = [
+            (0, 0, 1),
+            (0, 0, 0),
+            (0, -1, 1),
+            (0, -1, 0),
+            (-1, 0, 1),
+            (-1, 0, 0),
+            (-1, -1, 1),
+            (-1, -1, 0),
+        ]
+        for i, target_point in enumerate(target_vertices):
+            self.assertTupleAlmostEquals(target_point, mirror_box_vertices[i], 7)
+
     def testLocation(self):
 
         # Vector
@@ -418,6 +599,17 @@ class TestCadObjects(BaseTest):
             == loc3.wrapped.Transformation().TranslationPart().Z()
         )
 
+        # Test creation from the OCP.gp.gp_Trsf object
+        loc4 = Location(gp_Trsf())
+        self.assertTupleAlmostEquals(loc4.toTuple()[0], (0, 0, 0), 7)
+        self.assertTupleAlmostEquals(loc4.toTuple()[1], (0, 0, 0), 7)
+
+        # Test error handling on creation
+        with self.assertRaises(TypeError):
+            Location((0, 0, 1))
+        with self.assertRaises(TypeError):
+            Location("xy_plane")
+
     def testEdgeWrapperRadius(self):
 
         # get a radius from a simple circle