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DAMASK_EICMD
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fix syntax error regarding several static method

This commit is contained in:
Chen Zhang 2015-08-10 21:08:00 +00:00
parent bceeb0964c
commit 3991813595
1 changed files with 52 additions and 26 deletions
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78
lib/damask/corientation.pyx
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@ -14,9 +14,16 @@
# orientation class, mainly for speed improvement. #
######################################################
"""
NOTE
----
The static method in Cython is different from Python, need more
time to figure out details.
"""
import math, random, os
import numpy as np
#cimport numpy as np
cimport numpy as np
##
@ -67,7 +74,14 @@ cdef class Quaternion:
cdef public double w,x,y,z
def __init__(self, data):
""" copy constructor friendly """
"""
@description
------------
copy constructor friendly
@parameters
-----------
data: array
"""
cdef double[4] q
if isinstance(data, Quaternion):
@ -85,8 +99,13 @@ cdef class Quaternion:
cdef Quaternion(self, double* quatArray):
"""
@para: quatArray = <w, x, y, z>
w is the real part, (x, y, z) are the imaginary parts
@description
------------
internal constructor for Quaternion
@parameters
-----------
quatArray: double[4] // <w, x, y, z>
w is the real part, (x, y, z) are the imaginary parts
"""
if quatArray[0] < 0:
self.w = -quatArray[0]
@ -448,16 +467,16 @@ cdef class Quaternion:
return Quaternion(q)
@staticmethod
def fromRodrigues(cls, rodrigues):
def fromRodrigues(rodrigues):
if not isinstance(rodrigues, np.ndarray): rodrigues = np.array(rodrigues)
halfangle = math.atan(np.linalg.norm(rodrigues))
c = math.cos(halfangle)
w = c
x,y,z = c*rodrigues
return cls([w,x,y,z])
return Quaternion([w,x,y,z])
@staticmethod
def fromAngleAxis(cls, angle, axis):
def fromAngleAxis(angle, axis):
if not isinstance(axis, np.ndarray): axis = np.array(axis)
axis /= np.linalg.norm(axis)
s = math.sin(angle / 2.0)
@ -465,21 +484,25 @@ cdef class Quaternion:
x = axis[0] * s
y = axis[1] * s
z = axis[2] * s
return cls([w,x,y,z])
return Quaternion([w,x,y,z])
@staticmethod
def fromEulers(cls, eulers, type = 'Bunge'):
def fromEulers(eulers, type = 'Bunge'):
cdef double c1,s1,c2,s2,c3,s3
cdef double[4] q
cdef double[3] halfEulers
cdef int i
eulers *= 0.5 # reduce to half angles
for i in range(3):
halfEulers[i] = eulers[i] * 0.5 # reduce to half angles
c1 = math.cos(eulers[0])
s1 = math.sin(eulers[0])
c2 = math.cos(eulers[1])
s2 = math.sin(eulers[1])
c3 = math.cos(eulers[2])
s3 = math.sin(eulers[2])
c1 = math.cos(halfEulers[0])
s1 = math.sin(halfEulers[0])
c2 = math.cos(halfEulers[1])
s2 = math.sin(halfEulers[1])
c3 = math.cos(halfEulers[2])
s3 = math.sin(halfEulers[2])
if type.lower() == 'bunge' or type.lower() == 'zxz':
q[0] = c1 * c2 * c3 - s1 * c2 * s3
@ -496,7 +519,7 @@ cdef class Quaternion:
## Modified Method to calculate Quaternion from Orientation Matrix, Source: http://www.euclideanspace.com/maths/geometry/rotations/conversions/matrixToQuaternion/
@staticmethod
def fromMatrix(cls, m):
def fromMatrix(m):
# This is a slow implementation
if m.shape != (3,3) and np.prod(m.shape) == 9:
m = m.reshape(3,3)
@ -516,7 +539,7 @@ cdef class Quaternion:
t = m[0,0] - m[1,1] - m[2,2] + 1.0
s = 2.0*math.sqrt(t)
return cls(
return Quaternion(
[ (m[2,1] - m[1,2])/s,
s*0.25,
(m[0,1] + m[1,0])/s,
@ -527,7 +550,7 @@ cdef class Quaternion:
t = -m[0,0] + m[1,1] - m[2,2] + 1.0
s = 2.0*math.sqrt(t)
return cls(
return Quaternion(
[ (m[0,2] - m[2,0])/s,
(m[0,1] + m[1,0])/s,
s*0.25,
@ -538,7 +561,7 @@ cdef class Quaternion:
t = -m[0,0] - m[1,1] + m[2,2] + 1.0
s = 2.0*math.sqrt(t)
return cls(
return Quaternion(
[ (m[1,0] - m[0,1])/s,
(m[2,0] + m[0,2])/s,
(m[1,2] + m[2,1])/s,
@ -546,7 +569,7 @@ cdef class Quaternion:
])
@staticmethod
def new_interpolate(cls, q1, q2, t):
def new_interpolate(q1, q2, t):
# see http://ntrs.nasa.gov/archive/nasa/casi.ntrs.nasa.gov/20070017872_2007014421.pdf for (another?) way to interpolate quaternions
assert isinstance(q1, Quaternion) and isinstance(q2, Quaternion)
@ -834,8 +857,8 @@ cdef class Orientation:
angleAxis = None,
matrix = None,
Eulers = None,
random = False, # put any integer to have a fixed seed or True for real random
symmetry = None,
random = False, # put any integer to have a fixed seed or True for real random
symmetry = None
):
if random: # produce random orientation
if isinstance(random, bool ):
@ -843,7 +866,7 @@ cdef class Orientation:
else:
self.quaternion = Quaternion.fromRandom(randomSeed=random)
elif isinstance(Eulers, np.ndarray) and Eulers.shape == (3,): # based on given Euler angles
self.quaternion = Quaternion.fromEulers(Eulers,'bunge')
self.quaternion = Quaternion.fromEulers(Eulers, type='bunge')
elif isinstance(matrix, np.ndarray) : # based on given rotation matrix
self.quaternion = Quaternion.fromMatrix(matrix)
elif isinstance(angleAxis, np.ndarray) and angleAxis.shape == (4,): # based on given angle and rotation axis
@ -946,7 +969,7 @@ cdef class Orientation:
return color
@staticmethod
def getAverageOrientation(cls, orientationList):
def getAverageOrientation(orientationList):
"""
RETURN THE AVERAGE ORIENTATION
ref: F. Landis Markley, Yang Cheng, John Lucas Crassidis, and Yaakov Oshman.
@ -957,6 +980,9 @@ cdef class Orientation:
a = Orientation(Eulers=np.radians([10, 10, 0]), symmetry=3)
b = Orientation(Eulers=np.radians([20, 0, 0]), symmetry=3)
avg = Orientation.getAverageOrientation([a,b])
NOTE
----
No symmetry information is available for the average orientation.
"""
if not all(isinstance(item, Orientation) for item in orientationList):
@ -968,7 +994,7 @@ cdef class Orientation:
M += o.quaternion.asM()
eig, vec = np.linalg.eig(M/N)
return Orientation(quaternion = Quaternion(quatArray = vec.T[eig.argmax()]))
return Orientation(quaternion = Quaternion(vec.T[eig.argmax()]))
def related(self, relationModel, direction, targetSymmetry = None):