diff --git a/python/damask/quaternion.py b/python/damask/quaternion.py index 1d476e598..1bb6f5f0d 100644 --- a/python/damask/quaternion.py +++ b/python/damask/quaternion.py @@ -10,15 +10,15 @@ class Quaternion: Quaternion with basic operations q is the real part, p = (x, y, z) are the imaginary parts. - Defintion of multiplication depends on variable P, P ∈ {-1,1}. + Definition of multiplication depends on variable P, P ∈ {-1,1}. """ def __init__(self, q = 0.0, p = np.zeros(3,dtype=float)): """Initializes to identity unless specified""" - self.q = q - self.p = np.array(p) + self.q = float(q) + self.p = np.array(p,dtype=float) def __copy__(self): @@ -102,7 +102,8 @@ class Quaternion: self.p = self.q*other.p + other.q*self.p + P * np.cross(self.p,other.p) return self elif isinstance(other, (int, float)): - self *= other + self.q *= other + self.p *= other return self else: return NotImplemented @@ -115,9 +116,8 @@ class Quaternion: return self.__class__(q=self.q * s, p=self.p * s) elif isinstance(other, (int, float)): - self.q /= other - self.p /= other - return self + return self.__class__(q=self.q / other, + p=self.p / other) else: return NotImplemented @@ -129,6 +129,7 @@ class Quaternion: return self elif isinstance(other, (int, float)): self.q /= other + self.p /= other return self else: return NotImplemented @@ -149,6 +150,7 @@ class Quaternion: omega = np.acos(self.q) self.q = np.cos(exponent*omega) self.p *= np.sin(exponent*omega)/np.sin(omega) + return self else: return NotImplemented @@ -179,31 +181,34 @@ class Quaternion: return np.array((self.q,self.p[0],self.p[1],self.p[2])) def asList(self): + """As list""" return [self.q]+list(self.p) + def normalize(self): + """Normalizes in-place (no return value)""" d = self.magnitude() - if d > 0.0: - self.q /= d - self.p /= d - return self + if d > 0.0: self /= d def normalized(self): + """Returns normalized copy""" return self.copy().normalize() - + def conjugate(self): + """Conjugates in-place (no return value)""" self.p = -self.p - return self def conjugated(self): + """Returns conjugated copy""" return self.copy().conjugate() def homomorph(self): + """Homomorphs in-place (no return value)""" self.q = -self.q self.p = -self.p - return self def homomorphed(self): + """Returns homomorphed copy""" return self.copy().homomorph()