avoid overhead
length of random quaternion is one, no need to go via fromQuaternion but direct initialization and standardization suffices
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@ -399,11 +399,10 @@ class Rotation:
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r = np.random.random(3)
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r = np.random.random(3)
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A = np.sqrt(r[2])
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A = np.sqrt(r[2])
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B = np.sqrt(1.0-r[2])
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B = np.sqrt(1.0-r[2])
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w = np.cos(2.0*np.pi*r[0])*A
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return Rotation(np.array([np.cos(2.0*np.pi*r[0])*A,
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x = np.sin(2.0*np.pi*r[1])*B
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np.sin(2.0*np.pi*r[1])*B,
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y = np.cos(2.0*np.pi*r[1])*B
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np.cos(2.0*np.pi*r[1])*B,
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z = np.sin(2.0*np.pi*r[0])*A
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np.sin(2.0*np.pi*r[0])*A])).standardize()
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return Rotation.fromQuaternion([w,x,y,z],acceptHomomorph=True)
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