From 7b994015f564294ba18e7d274f85aa9fc2946aa1 Mon Sep 17 00:00:00 2001
From: EinarUeland <you@example.com>
Date: Tue, 6 Apr 2021 10:34:40 +0200
Subject: [PATCH] Swap theta and phi in euler rotations

---
 src/alitra/frame_dataclasses.py | 10 +++++-----
 tests/test_align_frames.py      |  4 ++--
 tests/test_frame_transform.py   |  3 +--
 3 files changed, 8 insertions(+), 9 deletions(-)

diff --git a/src/alitra/frame_dataclasses.py b/src/alitra/frame_dataclasses.py
index 3158b0a..cdfc391 100644
--- a/src/alitra/frame_dataclasses.py
+++ b/src/alitra/frame_dataclasses.py
@@ -103,17 +103,17 @@ def from_array(
 
 @dataclass
 class Euler:
-    """Euler angles where (psi,phi,theta) is rotation about the z-,y-, and x- axis respectively. as_array and from_array
-    are both ordered by rotation about z,y,x. That is [psi,phi,theta]"""
+    """Euler angles where (psi,theta,phi) is rotation about the z-,y-, and x- axis respectively as_array and from_array
+    are both ordered by rotation about z,y,x. That is [psi,theta,phi]"""
 
     from_: Literal["robot", "asset"]
     to_: Literal["robot", "asset"]
     psi: float = 0
-    phi: float = 0
     theta: float = 0
+    phi: float = 0
 
     def as_np_array(self) -> np.ndarray:
-        return np.array([self.psi, self.phi, self.theta], dtype=float)
+        return np.array([self.psi, self.theta, self.phi], dtype=float)
 
     @staticmethod
     def from_array(
@@ -124,7 +124,7 @@ def from_array(
         if rotations.shape != (3,):
             raise ValueError("Coordinate_list should have shape (3,)")
         return Euler(
-            psi=rotations[0], phi=rotations[1], theta=rotations[2], from_=from_, to_=to_
+            psi=rotations[0], theta=rotations[1], phi=rotations[2], from_=from_, to_=to_
         )
 
 
diff --git a/tests/test_align_frames.py b/tests/test_align_frames.py
index fca7914..af7bbec 100644
--- a/tests/test_align_frames.py
+++ b/tests/test_align_frames.py
@@ -33,7 +33,7 @@
             "z",
         ),
         (
-            Euler(theta=np.pi * 0.9, from_="robot", to_="asset"),
+            Euler(phi=np.pi * 0.9, from_="robot", to_="asset"),
             Translation(x=1, y=10, from_="robot", to_="asset"),
             PointList.from_array(
                 np.array([[10, 0, 0], [5, 2, 0], [7, 5, 0], [3, 5, 0]]), frame="robot"
@@ -65,7 +65,7 @@
             "z",
         ),
         (
-            Euler(phi=np.pi * 0.2, from_="robot", to_="asset"),
+            Euler(theta=np.pi * 0.2, from_="robot", to_="asset"),
             Translation(x=1, y=10, z=2, from_="robot", to_="asset"),
             PointList.from_array(
                 np.array([[0, 1, 2], [5, 2, 0], [7, 5, 0], [3, 5, 0]]), frame="robot"
diff --git a/tests/test_frame_transform.py b/tests/test_frame_transform.py
index 6dc26ee..b7e1431 100644
--- a/tests/test_frame_transform.py
+++ b/tests/test_frame_transform.py
@@ -61,7 +61,7 @@
             ),
         ),
         (
-            Euler(phi=1 * 0.2, theta=1, psi=0.4, from_="robot", to_="asset"),
+            Euler(theta=1 * 0.2, phi=1, psi=0.4, from_="robot", to_="asset"),
             Translation(x=0, y=10, z=2, from_="robot", to_="asset"),
             PointList.from_array(
                 np.array(
@@ -78,7 +78,6 @@
     ],
 )
 def test_transform_list_of_points(eul_rot, ref_translations, p_expected):
-
     p_robot = PointList.from_array(
         np.array(
             [