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added options to return "natural" versions of asQ, asRodrig, and asAxisAngle

This commit is contained in:
Philip Eisenlohr 2020-01-11 11:36:22 -05:00
parent ac112d2d36
commit 300f1b7015
1 changed files with 26 additions and 14 deletions
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40
python/damask/orientation.py
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@ -170,9 +170,18 @@ class Rotation:
################################################################################################
# convert to different orientation representations (numpy arrays)
def asQuaternion(self):
"""Unit quaternion: (q, p_1, p_2, p_3)."""
return self.quaternion.asArray()
def asQuaternion(self,
quaternion = False):
"""
Unit quaternion [q, p_1, p_2, p_3] unless quaternion == True: damask.quaternion object.
Parameters
----------
quaternion : bool, optional
return quaternion as DAMASK object.
"""
return self.quaternion if quaternion else self.quaternion.asArray()
def asEulers(self,
degrees = False):
@ -190,33 +199,36 @@ class Rotation:
return eu
def asAxisAngle(self,
degrees = False):
degrees = False,
pair = False):
"""
Axis angle pair: ([n_1, n_2, n_3], ω).
Axis angle representation [n_1, n_2, n_3, ω] unless pair == True: ([n_1, n_2, n_3], ω).
Parameters
----------
degrees : bool, optional
return rotation angle in degrees.
pair : bool, optional
return tuple of axis and angle.
"""
ax = qu2ax(self.quaternion.asArray())
if degrees: ax[3] = np.degrees(ax[3])
return ax
return (ax[:3],np.degrees(ax[3])) if pair else ax
def asMatrix(self):
"""Rotation matrix."""
return qu2om(self.quaternion.asArray())
def asRodrigues(self,
vector=False):
vector = False):
"""
Rodrigues-Frank vector: ([n_1, n_2, n_3], tan(ω/2)).
Rodrigues-Frank vector representation [n_1, n_2, n_3, tan(ω/2)] unless vector == True: [n_1, n_2, n_3] * tan(ω/2).
Parameters
----------
vector : bool, optional
return as array of length 3, i.e. scale the unit vector giving the rotation axis.
return as actual Rodrigues--Frank vector, i.e. rotation axis scaled by tan(ω/2).
"""
ro = qu2ro(self.quaternion.asArray())
@ -252,8 +264,8 @@ class Rotation:
acceptHomomorph = False,
P = -1):
qu = quaternion if isinstance(quaternion, np.ndarray) and quaternion.dtype == np.dtype(float) \
else np.array(quaternion,dtype=float)
qu = quaternion if isinstance(quaternion, np.ndarray) and quaternion.dtype == np.dtype(float) \
else np.array(quaternion,dtype=float)
if P > 0: qu[1:4] *= -1 # convert from P=1 to P=-1
if qu[0] < 0.0:
if acceptHomomorph:
@ -1193,9 +1205,9 @@ class Orientation:
ref = orientations[0]
for o in orientations:
closest.append(o.equivalentOrientations(
ref.disorientation(o,
SST = False, # select (o[ther]'s) sym orientation
symmetries = True)[2]).rotation) # with lowest misorientation
ref.disorientation(o,
SST = False, # select (o[ther]'s) sym orientation
symmetries = True)[2]).rotation) # with lowest misorientation
return Orientation(Rotation.fromAverage(closest,weights),ref.lattice)