vectorize Rotation.fromXXX functions
This commit is contained in:
Martin Diehl
parent
3d10266fbc
commit
23fc58699f
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@ -1,2 +1,5 @@
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[run]
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omit = tests/*
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damask/_asciitable.py
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damask/_test.py
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damask/config/*
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@ -1,6 +1,7 @@
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import numpy as np
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from ._Lambert import ball_to_cube, cube_to_ball
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from . import mechanics
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_P = -1
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@ -61,6 +62,8 @@ class Rotation:
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def __repr__(self):
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"""Orientation displayed as unit quaternion, rotation matrix, and Bunge-Euler angles."""
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if self.quaternion.shape != (4,):
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raise NotImplementedError
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return '\n'.join([
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'Quaternion: (real={:.3f}, imag=<{:+.3f}, {:+.3f}, {:+.3f}>)'.format(*(self.quaternion)),
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'Matrix:\n{}'.format(self.asMatrix()),
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@ -116,7 +119,7 @@ class Rotation:
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def inverse(self):
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"""In-place inverse rotation/backward rotation."""
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self.quaternion[1:] *= -1
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self.quaternion[...,1:] *= -1
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return self
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def inversed(self):
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@ -125,12 +128,12 @@ class Rotation:
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def standardize(self):
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"""In-place quaternion representation with positive q."""
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if self.quaternion[0] < 0.0: self.quaternion*=-1
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"""In-place quaternion representation with positive real part."""
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self.quaternion[self.quaternion[...,0] < 0.0] *= -1
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return self
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def standardized(self):
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"""Quaternion representation with positive q."""
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"""Quaternion representation with positive real."""
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return self.copy().standardize()
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@ -165,7 +168,7 @@ class Rotation:
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def asQuaternion(self):
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"""
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Unit quaternion [q, p_1, p_2, p_3] unless quaternion == True: damask.quaternion object.
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Unit quaternion [q, p_1, p_2, p_3].
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Parameters
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----------
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@ -251,107 +254,106 @@ class Rotation:
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# static constructors. The input data needs to follow the convention, options allow to
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# relax these convections
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@staticmethod
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def fromQuaternion(quaternion,
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def from_quaternion(quaternion,
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acceptHomomorph = False,
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P = -1):
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qu = quaternion if isinstance(quaternion,np.ndarray) and quaternion.dtype == np.dtype(float) \
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else np.array(quaternion,dtype=float)
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if P > 0: qu[1:4] *= -1 # convert from P=1 to P=-1
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if qu[0] < 0.0:
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qu = np.array(quaternion,dtype=float)
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if P > 0: qu[...,1:4] *= -1 # convert from P=1 to P=-1
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if acceptHomomorph:
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qu *= -1.
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qu[qu[...,0] < 0.0] *= -1
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else:
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raise ValueError('Quaternion has negative first component: {}.'.format(qu[0]))
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if not np.isclose(np.linalg.norm(qu), 1.0):
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raise ValueError('Quaternion is not of unit length: {} {} {} {}.'.format(*qu))
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if np.any(qu[...,0] < 0.0):
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raise ValueError('Quaternions need to have positive first(real) component.')
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if not np.all(np.isclose(np.linalg.norm(qu,axis=-1), 1.0)):
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raise ValueError('Quaternions need to have unit length.')
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return Rotation(qu)
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@staticmethod
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def fromEulers(eulers,
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def from_Eulers(eulers,
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degrees = False):
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eu = eulers if isinstance(eulers, np.ndarray) and eulers.dtype == np.dtype(float) \
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else np.array(eulers,dtype=float)
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eu = np.array(eulers,dtype=float)
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eu = np.radians(eu) if degrees else eu
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if np.any(eu < 0.0) or np.any(eu > 2.0*np.pi) or eu[1] > np.pi:
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raise ValueError('Euler angles outside of [0..2π],[0..π],[0..2π]: {} {} {}.'.format(*eu))
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if np.any(eu < 0.0) or np.any(eu > 2.0*np.pi) or np.any(eu[...,1] > np.pi): # ToDo: No separate check for PHI
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raise ValueError('Euler angles need to be in [0..2π],[0..π],[0..2π].')
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return Rotation(Rotation.eu2qu(eu))
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@staticmethod
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def fromAxisAngle(angleAxis,
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def from_axis_angle(axis_angle,
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degrees = False,
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normalise = False,
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P = -1):
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ax = angleAxis if isinstance(angleAxis, np.ndarray) and angleAxis.dtype == np.dtype(float) \
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else np.array(angleAxis,dtype=float)
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if P > 0: ax[0:3] *= -1 # convert from P=1 to P=-1
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if degrees: ax[ 3] = np.radians(ax[3])
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if normalise: ax[0:3] /= np.linalg.norm(ax[0:3])
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if ax[3] < 0.0 or ax[3] > np.pi:
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raise ValueError('Axis angle rotation angle outside of [0..π]: {}.'.format(ax[3]))
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if not np.isclose(np.linalg.norm(ax[0:3]), 1.0):
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raise ValueError('Axis angle rotation axis is not of unit length: {} {} {}.'.format(*ax[0:3]))
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ax = np.array(axis_angle,dtype=float)
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if P > 0: ax[...,0:3] *= -1 # convert from P=1 to P=-1
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if degrees: ax[..., 3] = np.radians(ax[...,3])
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if normalise: ax[...,0:3] /= np.linalg.norm(ax[...,0:3],axis=-1)
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if np.any(ax[...,3] < 0.0) or np.any(ax[...,3] > np.pi):
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raise ValueError('Axis angle rotation angle outside of [0..π].')
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if not np.all(np.isclose(np.linalg.norm(ax[...,0:3],axis=-1), 1.0)):
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raise ValueError('Axis angle rotation axis is not of unit length.')
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return Rotation(Rotation.ax2qu(ax))
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@staticmethod
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def fromBasis(basis,
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def from_basis(basis,
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orthonormal = True,
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reciprocal = False,
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):
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reciprocal = False):
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om = np.array(basis,dtype=float)
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om = basis if isinstance(basis, np.ndarray) else np.array(basis).reshape(3,3)
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if reciprocal:
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om = np.linalg.inv(om.T/np.pi) # transform reciprocal basis set
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om = np.linalg.inv(mechanics.transpose(om)/np.pi) # transform reciprocal basis set
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orthonormal = False # contains stretch
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if not orthonormal:
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(U,S,Vh) = np.linalg.svd(om) # singular value decomposition
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om = np.dot(U,Vh)
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if not np.isclose(np.linalg.det(om),1.0):
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om = np.einsum('...ij,...jl->...il',U,Vh)
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if not np.all(np.isclose(np.linalg.det(om),1.0)):
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raise ValueError('matrix is not a proper rotation: {}.'.format(om))
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if not np.isclose(np.dot(om[0],om[1]), 0.0) \
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or not np.isclose(np.dot(om[1],om[2]), 0.0) \
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or not np.isclose(np.dot(om[2],om[0]), 0.0):
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raise ValueError('matrix is not orthogonal: {}.'.format(om))
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if not np.all(np.isclose(np.einsum('...i,...i',om[...,0],om[...,1]), 0.0)) \
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or not np.all(np.isclose(np.einsum('...i,...i',om[...,1],om[...,2]), 0.0)) \
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or not np.all(np.isclose(np.einsum('...i,...i',om[...,2],om[...,0]), 0.0)):
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raise ValueError('matrix is not orthogonal.')
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return Rotation(Rotation.om2qu(om))
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@staticmethod
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def fromMatrix(om,
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):
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def from_matrix(om):
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return Rotation.fromBasis(om)
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return Rotation.from_basis(om)
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@staticmethod
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def fromRodrigues(rodrigues,
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def from_Rodrigues(rodrigues,
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normalise = False,
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P = -1):
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ro = rodrigues if isinstance(rodrigues, np.ndarray) and rodrigues.dtype == np.dtype(float) \
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else np.array(rodrigues,dtype=float)
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if P > 0: ro[0:3] *= -1 # convert from P=1 to P=-1
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if normalise: ro[0:3] /= np.linalg.norm(ro[0:3])
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if not np.isclose(np.linalg.norm(ro[0:3]), 1.0):
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raise ValueError('Rodrigues rotation axis is not of unit length: {} {} {}.'.format(*ro[0:3]))
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if ro[3] < 0.0:
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raise ValueError('Rodrigues rotation angle not positive: {}.'.format(ro[3]))
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ro = np.array(rodrigues,dtype=float)
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if P > 0: ro[...,0:3] *= -1 # convert from P=1 to P=-1
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if normalise: ro[...,0:3] /= np.linalg.norm(ro[...,0:3],axis=-1)
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if np.any(ro[...,3] < 0.0):
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raise ValueError('Rodrigues rotation angle not positive.')
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if not np.all(np.isclose(np.linalg.norm(ro[...,0:3],axis=-1), 1.0)):
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raise ValueError('Rodrigues rotation axis is not of unit length.')
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return Rotation(Rotation.ro2qu(ro))
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@staticmethod
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def fromHomochoric(homochoric,
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def from_homochoric(homochoric,
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P = -1):
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ho = homochoric if isinstance(homochoric, np.ndarray) and homochoric.dtype == np.dtype(float) \
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else np.array(homochoric,dtype=float)
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ho = np.array(homochoric,dtype=float)
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if P > 0: ho *= -1 # convert from P=1 to P=-1
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if np.linalg.norm(ho) > (3.*np.pi/4.)**(1./3.)+1e-9:
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raise ValueError('Coordinate outside of the sphere: {} {} {}.'.format(ho))
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if np.any(np.linalg.norm(ho,axis=-1) > (3.*np.pi/4.)**(1./3.)+1e-9):
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raise ValueError('Coordinate outside of the sphere.')
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return Rotation(Rotation.ho2qu(ho))
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@ -359,8 +361,7 @@ class Rotation:
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def fromCubochoric(cubochoric,
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P = -1):
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cu = cubochoric if isinstance(cubochoric, np.ndarray) and cubochoric.dtype == np.dtype(float) \
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else np.array(cubochoric,dtype=float)
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cu = np.array(cubochoric,dtype=float)
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if np.abs(np.max(cu))>np.pi**(2./3.) * 0.5+1e-9:
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raise ValueError('Coordinate outside of the cube: {} {} {}.'.format(*cu))
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@ -403,17 +404,28 @@ class Rotation:
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return Rotation.fromQuaternion(np.real(vec.T[eig.argmax()]),acceptHomomorph = True)
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@staticmethod
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def fromRandom():
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def from_random(shape=None):
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if shape is None:
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r = np.random.random(3)
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A = np.sqrt(r[2])
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B = np.sqrt(1.0-r[2])
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return Rotation(np.array([np.cos(2.0*np.pi*r[0])*A,
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np.sin(2.0*np.pi*r[1])*B,
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np.cos(2.0*np.pi*r[1])*B,
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np.sin(2.0*np.pi*r[0])*A])).standardize()
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else:
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r = np.random.random(tuple(shape)+(3,))
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A = np.sqrt(r[...,2])
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B = np.sqrt(1.0-r[...,2])
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return Rotation(np.block([np.cos(2.0*np.pi*r[...,0])*A,
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np.sin(2.0*np.pi*r[...,1])*B,
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np.cos(2.0*np.pi*r[...,1])*B,
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np.sin(2.0*np.pi*r[...,0])*A])).standardize()
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# for compatibility (old names do not follow convention)
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fromQuaternion = from_quaternion
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fromEulers = from_Eulers
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fromAxisAngle = from_axis_angle
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fromBasis = from_basis
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fromMatrix = from_matrix
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fromRodrigues = from_Rodrigues
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fromHomochoric = from_homochoric
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fromRandom = from_random
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####################################################################################################
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# Code below available according to the following conditions on https://github.com/MarDiehl/3Drotations
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@ -135,16 +135,16 @@ def PK2(P,F):
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Parameters
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----------
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P : numpy.ndarray of shape (:,3,3) or (3,3)
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P : numpy.ndarray of shape (...,3,3) or (3,3)
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First Piola-Kirchhoff stress.
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F : numpy.ndarray of shape (:,3,3) or (3,3)
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F : numpy.ndarray of shape (...,3,3) or (3,3)
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Deformation gradient.
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"""
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if np.shape(F) == np.shape(P) == (3,3):
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S = np.dot(np.linalg.inv(F),P)
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else:
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S = np.einsum('ijk,ikl->ijl',np.linalg.inv(F),P)
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S = np.einsum('...jk,...kl->...jl',np.linalg.inv(F),P)
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return symmetric(S)
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@ -241,7 +241,7 @@ def symmetric(T):
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Parameters
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----------
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T : numpy.ndarray of shape (:,3,3) or (3,3)
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T : numpy.ndarray of shape (...,3,3) or (3,3)
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Tensor of which the symmetrized values are computed.
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"""
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@ -254,12 +254,12 @@ def transpose(T):
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Parameters
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----------
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T : numpy.ndarray of shape (:,3,3) or (3,3)
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T : numpy.ndarray of shape (...,3,3) or (3,3)
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Tensor of which the transpose is computed.
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"""
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return T.T if np.shape(T) == (3,3) else \
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np.transpose(T,(0,2,1))
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np.swapaxes(T,axis2=-2,axis1=-1)
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def _polar_decomposition(T,requested):
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@ -157,6 +157,19 @@ class TestRotation:
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print(m,o,rot.asQuaternion())
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assert ok and o.max() < np.pi**(2./3.)*0.5+1.e-9
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@pytest.mark.parametrize('function,invalid',[(Rotation.from_quaternion, np.array([-1,0,0,0])),
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(Rotation.from_quaternion, np.array([1,1,1,0])),
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(Rotation.from_Eulers, np.array([1,4,0])),
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(Rotation.from_axis_angle, np.array([1,0,0,4])),
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(Rotation.from_axis_angle, np.array([1,1,0,1])),
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(Rotation.from_matrix, np.random.rand(3,3)),
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(Rotation.from_Rodrigues, np.array([1,0,0,-1])),
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(Rotation.from_Rodrigues, np.array([1,1,0,1])),
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(Rotation.from_homochoric, np.array([2,2,2])) ])
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def test_invalid(self,function,invalid):
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with pytest.raises(ValueError):
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function(invalid)
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@pytest.mark.parametrize('conversion',[Rotation.qu2om,
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Rotation.qu2eu,
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Rotation.qu2ax,
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