where not needed
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@ -501,7 +501,7 @@ class Rotation:
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np.block([np.arctan2( 2.0*qu[...,1:2]*qu[...,2:3],qu[...,1:2]**2-qu[...,2:3]**2),
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np.ones( qu.shape[:-1]+(1,))*np.pi,
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np.zeros(qu.shape[:-1]+(1,))]),
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eu) # TODO: Where not needed
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eu) # TODO: Where can be nested
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# reduce Euler angles to definition range, i.e a lower limit of 0.0
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eu[np.abs(eu)<1.e-6] = 0.0
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eu = np.where(eu<0, (eu+2.0*np.pi)%np.array([2.0*np.pi,np.pi,2.0*np.pi]),eu)
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@ -515,7 +515,7 @@ class Rotation:
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Modified version of the original formulation, should be numerically more stable
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"""
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if len(qu.shape) == 1:
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if iszero(np.sum(qu[1:4]**2)): # set axis to [001] if the angle is 0/360
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if np.abs(np.sum(qu[1:4]**2)) < 1.e-6: # set axis to [001] if the angle is 0/360
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ax = np.array([ 0.0, 0.0, 1.0, 0.0 ])
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elif np.abs(qu[0]) > 1.e-6:
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s = np.sign(qu[0])/np.sqrt(qu[1]**2+qu[2]**2+qu[3]**2)
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@ -546,14 +546,13 @@ class Rotation:
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else:
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with np.errstate(invalid='ignore',divide='ignore'):
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s = np.linalg.norm(qu[...,1:4],axis=-1,keepdims=True)
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ro = np.where(np.abs(s) < 1.0e-12,
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[0.0,0.0,P,0.0],
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ro = np.where(np.broadcast_to(np.abs(qu[...,0:1]) < 1.0e-12,qu.shape),
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np.block([qu[...,1:2], qu[...,2:3], qu[...,3:4], np.ones(qu.shape[:-1]+(1,))*np.inf]),
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np.block([qu[...,1:2]/s,qu[...,2:3]/s,qu[...,3:4]/s,
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np.tan(np.arccos(np.clip(qu[...,0:1],-1.0,1.0)))
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])
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)
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ro = np.where(np.abs(qu[...,0:1]) < 1.0e-12,
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np.block([qu[...,1:2], qu[...,2:3], qu[...,3:4], np.ones(qu.shape[:-1]+(1,))*np.inf]),ro) # TODO: Where not needed
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ro[np.abs(s).squeeze(-1) < 1.0e-12] = [0.0,0.0,P,0.0]
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return ro
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@staticmethod
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@ -1033,4 +1032,7 @@ class Rotation:
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@staticmethod
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def cu2ho(cu):
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"""Cubochoric vector to homochoric vector."""
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if len(cu.shape) == 1:
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return cube_to_ball(cu)
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else:
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raise NotImplementedError
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