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testing special orientations with scatter

This commit is contained in:
Martin Diehl 2020-04-08 18:38:57 +02:00
parent 1ba01ba0db
commit 3cd8f3d9a0
1 changed files with 101 additions and 38 deletions
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python/tests/test_Rotation.py
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@ -6,35 +6,77 @@ import numpy as np
from damask import Rotation
n = 1000
atol=1.e-5
scatter=1.e-9
@pytest.fixture
def default():
"""A set of n random rotations."""
specials =[np.array([ 1.0, 0.0, 0.0, 0.0]),
specials = np.array(
[np.array([ 1.0, 0.0, 0.0, 0.0]),
#-----------------------------------------------
np.array([ 1.0, 1.0, 0.0, 0.0])*np.sqrt(2.)*.5,
np.array([ 1.0, 0.0, 1.0, 0.0])*np.sqrt(2.)*.5,
np.array([ 1.0, 0.0, 0.0, 1.0])*np.sqrt(2.)*.5,
np.array([ 0.0, 1.0, 1.0, 0.0])*np.sqrt(2.)*.5,
np.array([ 0.0, 1.0, 0.0, 1.0])*np.sqrt(2.)*.5,
np.array([ 0.0, 0.0, 1.0, 1.0])*np.sqrt(2.)*.5,
np.array([0.0, 1.0, 0.0, 0.0]),
np.array([0.0, 0.0, 1.0, 0.0]),
np.array([0.0, 0.0, 0.0, 1.0]),
np.array([0.0,-1.0, 0.0, 0.0]),
np.array([0.0, 0.0,-1.0, 0.0]),
np.array([0.0, 0.0, 0.0,-1.0]),
#-----------------------------------------------
np.array([ 1.0,-1.0, 0.0, 0.0])*np.sqrt(2.)*.5,
np.array([ 1.0, 0.0,-1.0, 0.0])*np.sqrt(2.)*.5,
np.array([ 1.0, 0.0, 0.0,-1.0])*np.sqrt(2.)*.5,
np.array([ 0.0, 1.0,-1.0, 0.0])*np.sqrt(2.)*.5,
np.array([ 0.0, 1.0, 0.0,-1.0])*np.sqrt(2.)*.5,
np.array([ 0.0, 0.0, 1.0,-1.0])*np.sqrt(2.)*.5,
np.array([1.0, 1.0, 0.0, 0.0])/np.sqrt(2.),
np.array([1.0, 0.0, 1.0, 0.0])/np.sqrt(2.),
np.array([1.0, 0.0, 0.0, 1.0])/np.sqrt(2.),
np.array([0.0, 1.0, 1.0, 0.0])/np.sqrt(2.),
np.array([0.0, 1.0, 0.0, 1.0])/np.sqrt(2.),
np.array([0.0, 0.0, 1.0, 1.0])/np.sqrt(2.),
#-----------------------------------------------
np.array([ 0.0, 1.0,-1.0, 0.0])*np.sqrt(2.)*.5,
np.array([ 0.0, 1.0, 0.0,-1.0])*np.sqrt(2.)*.5,
np.array([ 0.0, 0.0, 1.0,-1.0])*np.sqrt(2.)*.5,
np.array([1.0,-1.0, 0.0, 0.0])/np.sqrt(2.),
np.array([1.0, 0.0,-1.0, 0.0])/np.sqrt(2.),
np.array([1.0, 0.0, 0.0,-1.0])/np.sqrt(2.),
np.array([0.0, 1.0,-1.0, 0.0])/np.sqrt(2.),
np.array([0.0, 1.0, 0.0,-1.0])/np.sqrt(2.),
np.array([0.0, 0.0, 1.0,-1.0])/np.sqrt(2.),
#-----------------------------------------------
np.array([ 0.0,-1.0,-1.0, 0.0])*np.sqrt(2.)*.5,
np.array([ 0.0,-1.0, 0.0,-1.0])*np.sqrt(2.)*.5,
np.array([ 0.0, 0.0,-1.0,-1.0])*np.sqrt(2.)*.5,
np.array([0.0, 1.0,-1.0, 0.0])/np.sqrt(2.),
np.array([0.0, 1.0, 0.0,-1.0])/np.sqrt(2.),
np.array([0.0, 0.0, 1.0,-1.0])/np.sqrt(2.),
#-----------------------------------------------
]
np.array([0.0,-1.0,-1.0, 0.0])/np.sqrt(2.),
np.array([0.0,-1.0, 0.0,-1.0])/np.sqrt(2.),
np.array([0.0, 0.0,-1.0,-1.0])/np.sqrt(2.),
#-----------------------------------------------
np.array([1.0, 1.0, 1.0, 0.0])/np.sqrt(3.),
np.array([1.0, 1.0, 0.0, 1.0])/np.sqrt(3.),
np.array([1.0, 0.0, 1.0, 1.0])/np.sqrt(3.),
np.array([1.0,-1.0, 1.0, 0.0])/np.sqrt(3.),
np.array([1.0,-1.0, 0.0, 1.0])/np.sqrt(3.),
np.array([1.0, 0.0,-1.0, 1.0])/np.sqrt(3.),
np.array([1.0, 1.0,-1.0, 0.0])/np.sqrt(3.),
np.array([1.0, 1.0, 0.0,-1.0])/np.sqrt(3.),
np.array([1.0, 0.0, 1.0,-1.0])/np.sqrt(3.),
np.array([1.0,-1.0,-1.0, 0.0])/np.sqrt(3.),
np.array([1.0,-1.0, 0.0,-1.0])/np.sqrt(3.),
np.array([1.0, 0.0,-1.0,-1.0])/np.sqrt(3.),
#-----------------------------------------------
np.array([0.0, 1.0, 1.0, 1.0])/np.sqrt(3.),
np.array([0.0, 1.0,-1.0, 1.0])/np.sqrt(3.),
np.array([0.0, 1.0, 1.0,-1.0])/np.sqrt(3.),
np.array([0.0,-1.0, 1.0, 1.0])/np.sqrt(3.),
np.array([0.0,-1.0,-1.0, 1.0])/np.sqrt(3.),
np.array([0.0,-1.0, 1.0,-1.0])/np.sqrt(3.),
np.array([0.0,-1.0,-1.0,-1.0])/np.sqrt(3.),
#-----------------------------------------------
np.array([1.0, 1.0, 1.0, 1.0])/2.,
np.array([1.0,-1.0, 1.0, 1.0])/2.,
np.array([1.0, 1.0,-1.0, 1.0])/2.,
np.array([1.0, 1.0, 1.0,-1.0])/2.,
np.array([1.0,-1.0,-1.0, 1.0])/2.,
np.array([1.0,-1.0, 1.0,-1.0])/2.,
np.array([1.0, 1.0,-1.0,-1.0])/2.,
np.array([1.0,-1.0,-1.0,-1.0])/2.,
])
specials += np.broadcast_to(np.random.rand(4)*scatter,specials.shape)
specials /= np.linalg.norm(specials,axis=1).reshape(-1,1)
specials[specials[:,0]<0]*=-1
return [Rotation.fromQuaternion(s) for s in specials] + \
[Rotation.fromRandom() for r in range(n-len(specials))]
@ -48,41 +90,62 @@ class TestRotation:
def test_Eulers(self,default):
for rot in default:
c = Rotation.fromEulers(rot.asEulers())
ok = np.allclose(rot.asQuaternion(),c.asQuaternion())
if np.isclose(rot.asQuaternion()[0],0.0,atol=1.e-13,rtol=0.0):
ok = ok or np.allclose(rot.asQuaternion(),c.asQuaternion()*-1.)
m = rot.asQuaternion()
o = Rotation.fromEulers(rot.asEulers()).asQuaternion()
ok = np.allclose(m,o,atol=atol)
if np.isclose(rot.asQuaternion()[0],0.0,atol=atol):
ok = ok or np.allclose(m*-1.,o,atol=atol)
print(m,o,rot.asQuaternion())
assert ok
def test_AxisAngle(self,default):
for rot in default:
c = Rotation.fromAxisAngle(rot.asAxisAngle())
assert np.allclose(rot.asEulers(),c.asEulers())
m = rot.asEulers()
o = Rotation.fromAxisAngle(rot.asAxisAngle()).asEulers()
u = np.array([np.pi*2,np.pi,np.pi*2])
ok = np.allclose(m,o,atol=atol)
ok = ok or np.allclose(np.where(np.isclose(m,u),m-u,m),np.where(np.isclose(o,u),o-u,o),atol=atol)
if np.isclose(m[1],0.0,atol=atol) or np.isclose(m[1],np.pi,atol=atol):
sum_phi = np.unwrap([m[0]+m[2],o[0]+o[2]])
ok = ok or np.isclose(sum_phi[0],sum_phi[1],atol=atol)
print(m,o,rot.asQuaternion())
assert ok
def test_Matrix(self,default):
for rot in default:
c = Rotation.fromMatrix(rot.asMatrix())
ok = np.allclose(rot.asAxisAngle(),c.asAxisAngle())
if np.isclose(rot.asAxisAngle()[3],np.pi):
ok = ok or np.allclose(rot.asAxisAngle(),c.asAxisAngle()*np.array([-1.,-1.,-1.,1.]))
m = rot.asAxisAngle()
o = Rotation.fromAxisAngle(rot.asAxisAngle()).asAxisAngle()
ok = np.allclose(m,o,atol=atol)
if np.isclose(m[3],np.pi,atol=atol):
ok = ok or np.allclose(m*np.array([-1.,-1.,-1.,1.]),o,atol=atol)
print(m,o,rot.asQuaternion())
assert ok
def test_Rodriques(self,default):
for rot in default:
c = Rotation.fromRodrigues(rot.asRodrigues())
assert np.allclose(rot.asMatrix(),c.asMatrix())
m = rot.asMatrix()
o = Rotation.fromRodrigues(rot.asRodrigues()).asMatrix()
print(m,o)
assert np.allclose(m,o,atol=atol)
def test_Homochoric(self,default):
for rot in default:
c = Rotation.fromHomochoric(rot.asHomochoric())
assert np.allclose(np.clip(rot.asRodrigues(),None,1.e9),np.clip(c.asRodrigues(),None,1.e9))
m = rot.asRodrigues()
o = Rotation.fromHomochoric(rot.asHomochoric()).asRodrigues()
ok = np.allclose(np.clip(m,None,1.e9),np.clip(o,None,1.e9),atol=atol)
print(m,o,rot.asQuaternion())
ok = ok or np.isclose(m[3],0.0,atol=atol)
def test_Cubochoric(self,default):
for rot in default:
c = Rotation.fromCubochoric(rot.asCubochoric())
assert np.allclose(rot.asHomochoric(),c.asHomochoric())
m = rot.asHomochoric()
o = Rotation.fromCubochoric(rot.asCubochoric()).asHomochoric()
print(m,o,rot.asQuaternion())
assert np.allclose(m,o,atol=atol*1e2)
def test_Quaternion(self,default):
for rot in default:
c = Rotation.fromQuaternion(rot.asQuaternion())
assert np.allclose(rot.asCubochoric(),c.asCubochoric())
m = rot.asCubochoric()
o = Rotation.fromQuaternion(rot.asQuaternion()).asCubochoric()
print(m,o,rot.asQuaternion())
assert np.allclose(m,o,atol=atol)