rodrigues is 4-vector with rotation being the last component
established a single source of truth for length
This commit is contained in:
Martin Diehl
parent
97ac437686
commit
336a80091f
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@ -21,9 +21,9 @@ Additional (globally fixed) rotations of the lab frame and/or crystal frame can
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""", version = scriptID)
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outputChoices = {
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'quaternion': ['quat',4],
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'rodrigues': ['rodr',3],
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representations = {
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'quaternion': ['quat',4], #ToDo: Use here Rowenhorst names (qu/ro/om/ax?)
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'rodrigues': ['rodr',4],
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'eulers': ['eulr',3],
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'matrix': ['mtrx',9],
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'angleaxis': ['aaxs',4],
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@ -33,7 +33,7 @@ parser.add_option('-o',
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'--output',
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dest = 'output',
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action = 'extend', metavar = '<string LIST>',
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help = 'output orientation formats {{{}}}'.format(', '.join(outputChoices)))
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help = 'output orientation formats {{{}}}'.format(', '.join(representations)))
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parser.add_option('-d',
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'--degrees',
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dest = 'degrees',
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@ -87,8 +87,8 @@ parser.set_defaults(output = [],
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(options, filenames) = parser.parse_args()
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options.output = list(map(lambda x: x.lower(), options.output))
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if options.output == [] or (not set(options.output).issubset(set(outputChoices))):
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parser.error('output must be chosen from {}.'.format(', '.join(outputChoices)))
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if options.output == [] or (not set(options.output).issubset(set(representations))):
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parser.error('output must be chosen from {}.'.format(', '.join(representations)))
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input = [options.eulers is not None,
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options.rodrigues is not None,
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@ -101,11 +101,11 @@ input = [options.eulers is not None,
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if np.sum(input) != 1: parser.error('needs exactly one input format.')
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(label,dim,inputtype) = [(options.eulers,3,'eulers'),
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(options.rodrigues,3,'rodrigues'),
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(label,dim,inputtype) = [(options.eulers,representations['eulers'][1],'eulers'),
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(options.rodrigues,representations['rodrigues'][1],'rodrigues'),
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([options.x,options.y,options.z],[3,3,3],'frame'),
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(options.matrix,9,'matrix'),
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(options.quaternion,4,'quaternion'),
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(options.matrix,representations['matrix'][1],'matrix'),
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(options.quaternion,representations['quaternion'][1],'quaternion'),
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][np.where(input)[0][0]] # select input label that was requested
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r = damask.Rotation.fromAngleAxis(options.crystalrotation,options.degrees) # crystal frame rotation
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@ -143,9 +143,9 @@ for name in filenames:
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table.info_append(scriptID + '\t' + ' '.join(sys.argv[1:]))
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for output in options.output:
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if output in outputChoices:
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table.labels_append(['{}_{}({})'.format(i+1,outputChoices[output][0],label) \
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for i in range(outputChoices[output][1])])
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if output in representations:
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table.labels_append(['{}_{}({})'.format(i+1,representations[output][0],label) \
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for i in range(representations[output][1])])
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table.head_write()
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# ------------------------------------------ process data ------------------------------------------
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@ -153,13 +153,16 @@ for name in filenames:
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outputAlive = True
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while outputAlive and table.data_read(): # read next data line of ASCII table
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if inputtype == 'eulers':
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o = damask.Rotation.fromEulers(list(map(float,table.data[column:column+3])),options.degrees)
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l = representations['eulers'][1]
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o = damask.Rotation.fromEulers(list(map(float,table.data[column:column+l])),options.degrees)
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elif inputtype == 'rodrigues':
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o = damask.Rotation.fromRodrigues(list(map(float,table.data[column:column+3])))
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l = representations['rodrigues'][1]
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o = damask.Rotation.fromRodrigues(list(map(float,table.data[column:column+l])))
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elif inputtype == 'matrix':
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o = damask.Rotation.fromMatrix(list(map(float,table.data[column:column+9])).reshape(3,3))
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l = representations['matrix'][1]
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o = damask.Rotation.fromMatrix(list(map(float,table.data[column:column+l])))
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elif inputtype == 'frame':
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M = np.array(list(map(float,table.data[column[0]:column[0]+3] + \
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@ -168,7 +171,8 @@ for name in filenames:
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o = damask.Rotation.fromMatrix(M/np.linalg.norm(M,axis=0))
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elif inputtype == 'quaternion':
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o = damask.Rotation.fromQuaternion(list(map(float,table.data[column:column+4])))
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l = representations['quaternion'][1]
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o = damask.Rotation.fromQuaternion(list(map(float,table.data[column:column+l])))
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o= r*o*R # apply additional lab and crystal frame rotations
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@ -177,7 +181,7 @@ for name in filenames:
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elif output == 'rodrigues': table.data_append(o.asRodrigues())
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elif output == 'eulers': table.data_append(o.asEulers(degrees=options.degrees))
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elif output == 'matrix': table.data_append(o.asMatrix())
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elif output == 'angleaxis': table.data_append(o.asAngleAxis(degrees=options.degrees,flat=True))
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elif output == 'angleaxis': table.data_append(o.asAngleAxis(degrees=options.degrees))
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outputAlive = table.data_write() # output processed line
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# ------------------------------------------ output finalization -----------------------------------
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@ -336,7 +336,7 @@ class Rotation:
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matrix,
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containsStretch = False): #ToDo: better name?
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om = matrix if isinstance(matrix, np.ndarray) else np.array(matrix)
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om = matrix if isinstance(matrix, np.ndarray) else np.array(matrix).reshape((3,3)) # ToDo: Reshape here or require explicit?
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if containsStretch:
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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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@ -356,12 +356,12 @@ class Rotation:
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P = -1):
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ro = rodrigues if isinstance(rodrigues, np.ndarray) else np.array(rodrigues)
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if P > 0: ro[1:4] *= -1 # convert from P=1 to P=-1
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if normalise: ro[1:4] /=np.linalg.norm(ro[1:4])
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if not np.isclose(np.linalg.norm(ro[1:4]), 1.0):
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raise ValueError('Rodrigues rotation axis is not of unit length.\n{} {} {}'.format(*ro[1:4]))
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if ro[0] < 0.0:
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raise ValueError('Rodriques rotation angle not positive.\n'.format(ro[0]))
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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.\n{} {} {}'.format(*ro[0:3]))
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if ro[3] < 0.0:
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raise ValueError('Rodriques rotation angle not positive.\n'.format(ro[3]))
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return cls(ro2qu(ro))
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