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Merge branch 'python-improvements' into 'development' 

Python improvements

See merge request damask/DAMASK!315
This commit is contained in:
Philip Eisenlohr 2021-01-13 17:25:25 +01:00
parent 66af1f1818 4b0b288054
commit 8182c9c54e
12 changed files with 290 additions and 110 deletions
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2
LICENSE
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@ -1,4 +1,4 @@
Copyright 2011-20 Max-Planck-Institut für Eisenforschung GmbH
Copyright 2011-21 Max-Planck-Institut für Eisenforschung GmbH
DAMASK is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by

2
PRIVATE

@ -1 +1 @@
Subproject commit 7846c71126705cc5d41dd79f2d595f4864434068
Subproject commit 1d0c95c5c1c0e7e6f57bdfc94b695e47a6ad6c60

35
python/damask/_config.py
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@ -1,3 +1,4 @@
import copy
from io import StringIO
import abc
@ -35,6 +36,14 @@ class Config(dict):
output.seek(0)
return ''.join(output.readlines())
def __copy__(self):
"""Create deep copy."""
return copy.deepcopy(self)
copy = __copy__
@classmethod
def load(cls,fname):
"""
@ -52,6 +61,7 @@ class Config(dict):
fhandle = fname
return cls(yaml.safe_load(fhandle))
def save(self,fname,**kwargs):
"""
Save to yaml file.
@ -89,12 +99,37 @@ class Config(dict):
fhandle.write(yaml.dump(self,Dumper=NiceDumper,**kwargs))
def add(self,d):
"""
Add dictionary.
d : dict
Dictionary to append.
"""
duplicate = self.copy()
duplicate.update(d)
return duplicate
def delete(self,key):
"""
Delete item.
key : str or scalar
Label of the key to remove.
"""
duplicate = self.copy()
del duplicate[key]
return duplicate
@property
@abc.abstractmethod
def is_complete(self):
"""Check for completeness."""
pass
@property
@abc.abstractmethod
def is_valid(self):

15
python/damask/_configmaterial.py
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@ -1,5 +1,3 @@
import copy
import numpy as np
from . import Config
@ -13,11 +11,10 @@ class ConfigMaterial(Config):
'homogenization': {},
'phase': {}}
def __init__(self,d={}):
def __init__(self,d=_defaults):
"""Initialize object with default dictionary keys."""
super().__init__(d)
for k,v in self._defaults.items():
if k not in self: self[k] = v
def save(self,fname='material.yaml',**kwargs):
"""
@ -204,7 +201,7 @@ class ConfigMaterial(Config):
Limit renaming to selected constituents.
"""
dup = copy.deepcopy(self)
dup = self.copy()
for i,m in enumerate(dup['material']):
if ID and i not in ID: continue
for c in m['constituents']:
@ -228,7 +225,7 @@ class ConfigMaterial(Config):
Limit renaming to selected homogenization IDs.
"""
dup = copy.deepcopy(self)
dup = self.copy()
for i,m in enumerate(dup['material']):
if ID and i not in ID: continue
try:
@ -289,7 +286,7 @@ class ConfigMaterial(Config):
c = [{} for _ in range(length)] if constituents is None else \
[{'constituents':u} for u in ConfigMaterial._constituents(**constituents)]
if len(c) == 1: c = [copy.deepcopy(c[0]) for _ in range(length)]
if len(c) == 1: c = [c[0] for _ in range(length)]
if length != 1 and length != len(c):
raise ValueError('Cannot add entries of different length')
@ -301,7 +298,7 @@ class ConfigMaterial(Config):
else:
for i in range(len(c)):
c[i][k] = v
dup = copy.deepcopy(self)
dup = self.copy()
dup['material'] = dup['material'] + c if 'material' in dup else c
return dup

28
python/damask/_grid.py
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@ -57,13 +57,10 @@ class Grid:
def __copy__(self):
"""Copy grid."""
"""Create deep copy."""
return copy.deepcopy(self)
def copy(self):
"""Copy grid."""
return self.__copy__()
copy = __copy__
def diff(self,other):
@ -766,24 +763,19 @@ class Grid:
if fill is None: fill = np.nanmax(self.material) + 1
dtype = float if np.isnan(fill) or int(fill) != fill or self.material.dtype==np.float else int
Eulers = R.as_Euler_angles(degrees=True)
material_in = self.material.copy()
material = self.material
# These rotations are always applied in the reference coordinate system, i.e. (z,x,z) not (z,x',z'')
# see https://www.cs.utexas.edu/~theshark/courses/cs354/lectures/cs354-14.pdf
for angle,axes in zip(Eulers[::-1], [(0,1),(1,2),(0,1)]):
material_out = ndimage.rotate(material_in,angle,axes,order=0,
prefilter=False,output=dtype,cval=fill)
if np.prod(material_in.shape) == np.prod(material_out.shape):
for angle,axes in zip(R.as_Euler_angles(degrees=True)[::-1], [(0,1),(1,2),(0,1)]):
material_temp = ndimage.rotate(material,angle,axes,order=0,prefilter=False,output=dtype,cval=fill)
# avoid scipy interpolation errors for rotations close to multiples of 90°
material_in = np.rot90(material_in,k=np.rint(angle/90.).astype(int),axes=axes)
else:
material_in = material_out
material = material_temp if np.prod(material_temp.shape) != np.prod(material.shape) else \
np.rot90(material,k=np.rint(angle/90.).astype(int),axes=axes)
origin = self.origin-(np.asarray(material_in.shape)-self.cells)*.5 * self.size/self.cells
origin = self.origin-(np.asarray(material.shape)-self.cells)*.5 * self.size/self.cells
return Grid(material = material_in,
size = self.size/self.cells*np.asarray(material_in.shape),
return Grid(material = material,
size = self.size/self.cells*np.asarray(material.shape),
origin = origin,
comments = self.comments+[util.execution_stamp('Grid','rotate')],
)

46
python/damask/_orientation.py
View File

@ -199,7 +199,7 @@ class Orientation(Rotation):
def __copy__(self,**kwargs):
"""Copy."""
"""Create deep copy."""
return self.__class__(rotation=kwargs['rotation'] if 'rotation' in kwargs else self.quaternion,
lattice =kwargs['lattice'] if 'lattice' in kwargs else self.lattice
if self.lattice is not None else self.family,
@ -225,30 +225,42 @@ class Orientation(Rotation):
Orientation to check for equality.
"""
return super().__eq__(other) \
and hasattr(other, 'family') and self.family == other.family \
and hasattr(other, 'lattice') and self.lattice == other.lattice \
and hasattr(other, 'parameters') and self.parameters == other.parameters
matching_type = all([hasattr(other,attr) and getattr(self,attr) == getattr(other,attr)
for attr in ['family','lattice','parameters']])
return np.logical_and(super().__eq__(other),matching_type)
def __matmul__(self,other):
def __ne__(self,other):
"""
Rotation of vector, second or fourth order tensor, or rotation object.
Not equal to other.
Parameters
----------
other : numpy.ndarray, Rotation, or Orientation
Vector, second or fourth order tensor, or rotation object that is rotated.
other : Orientation
Orientation to check for equality.
"""
return np.logical_not(self==other)
def __mul__(self,other):
"""
Compose this orientation with other.
Parameters
----------
other : Rotation or Orientation
Object for composition.
Returns
-------
other_rot : numpy.ndarray or Rotation
Rotated vector, second or fourth order tensor, or rotation object.
composition : Orientation
Compound rotation self*other, i.e. first other then self rotation.
"""
return self.copy(rotation=Rotation.__matmul__(self,Rotation(other.quaternion))) \
if isinstance(other,self.__class__) else \
Rotation.__matmul__(self,other)
if isinstance(other,Orientation) or isinstance(other,Rotation):
return self.copy(rotation=Rotation.__mul__(self,Rotation(other.quaternion)))
else:
raise TypeError('Use "O@b", i.e. matmul, to apply Orientation "O" to object "b"')
@classmethod
@ -429,7 +441,7 @@ class Orientation(Rotation):
raise ValueError('Missing crystal symmetry')
o = self.symmetry_operations.broadcast_to(self.symmetry_operations.shape+self.shape,mode='right')
return self.copy(rotation=o@Rotation(self.quaternion).broadcast_to(o.shape,mode='left'))
return self.copy(rotation=o*Rotation(self.quaternion).broadcast_to(o.shape,mode='left'))
@property
@ -608,7 +620,7 @@ class Orientation(Rotation):
o,lattice = self.relation_operations(model,return_lattice=True)
target = Orientation(lattice=lattice)
o = o.broadcast_to(o.shape+self.shape,mode='right')
return self.copy(rotation=o@Rotation(self.quaternion).broadcast_to(o.shape,mode='left'),
return self.copy(rotation=o*Rotation(self.quaternion).broadcast_to(o.shape,mode='left'),
lattice=lattice,
b = self.b if target.ratio['b'] is None else self.a*target.ratio['b'],
c = self.c if target.ratio['c'] is None else self.a*target.ratio['c'],

166
python/damask/_rotation.py
View File

@ -35,6 +35,11 @@ class Rotation:
- b = Q @ a
- b = np.dot(Q.as_matrix(),a)
Compound rotations R1 (first) and R2 (second):
- R = R2 * R1
- R = Rotation.from_matrix(np.dot(R2.as_matrix(),R1.as_matrix())
References
----------
D. Rowenhorst et al., Modelling and Simulation in Materials Science and Engineering 23:083501, 2015
@ -65,22 +70,13 @@ class Rotation:
def __repr__(self):
"""Represent rotation as unit quaternion, rotation matrix, and Bunge-Euler angles."""
if self == Rotation():
return 'Rotation()'
else:
return f'Quaternions {self.shape}:\n'+str(self.quaternion) \
if self.quaternion.shape != (4,) else \
'\n'.join([
'Quaternion: (real={:.3f}, imag=<{:+.3f}, {:+.3f}, {:+.3f}>)'.format(*(self.quaternion)),
'Matrix:\n{}'.format(np.round(self.as_matrix(),8)),
'Bunge Eulers / deg: ({:3.2f}, {:3.2f}, {:3.2f})'.format(*self.as_Euler_angles(degrees=True)),
])
"""Represent rotation as unit quaternion(s)."""
return f'Quaternion{" " if self.quaternion.shape == (4,) else "s of shape "+str(self.quaternion.shape)+chr(10)}'\
+ str(self.quaternion)
# ToDo: Check difference __copy__ vs __deepcopy__
def __copy__(self,**kwargs):
"""Copy."""
"""Create deep copy."""
return self.__class__(rotation=kwargs['rotation'] if 'rotation' in kwargs else self.quaternion)
copy = __copy__
@ -97,6 +93,26 @@ class Rotation:
"""
Equal to other.
Equality is determined taking limited floating point precision into account.
See numpy.allclose for details.
Parameters
----------
other : Rotation
Rotation to check for equality.
"""
s = self.quaternion
o = other.quaternion
if self.shape == () == other.shape:
return np.allclose(s,o) or (np.isclose(s[0],0.0) and np.allclose(s,-1.0*o))
else:
return np.all(np.isclose(s,o),-1) + np.all(np.isclose(s,-1.0*o),-1) * np.isclose(s[...,0],0.0)
def __ne__(self,other):
"""
Not equal to other.
Equality is determined taking limited floating point precision into
account. See numpy.allclose for details.
@ -106,8 +122,7 @@ class Rotation:
Rotation to check for equality.
"""
return np.prod(self.shape,dtype=int) == np.prod(other.shape,dtype=int) \
and np.allclose(self.quaternion,other.quaternion)
return np.logical_not(self==other)
@property
@ -127,41 +142,46 @@ class Rotation:
return dup
def __pow__(self,pwr):
def __pow__(self,exp):
"""
Raise quaternion to power.
Equivalent to performing the rotation 'pwr' times.
Perform the rotation 'exp' times.
Parameters
----------
pwr : float
Power to raise quaternion to.
exp : float
Exponent.
"""
phi = np.arccos(self.quaternion[...,0:1])
p = self.quaternion[...,1:]/np.linalg.norm(self.quaternion[...,1:],axis=-1,keepdims=True)
return self.copy(rotation=Rotation(np.block([np.cos(pwr*phi),np.sin(pwr*phi)*p]))._standardize())
return self.copy(rotation=Rotation(np.block([np.cos(exp*phi),np.sin(exp*phi)*p]))._standardize())
def __mul__(self,other):
"""Standard multiplication is not implemented."""
raise NotImplementedError('Use "R@b", i.e. matmul, to apply rotation "R" to object "b"')
def __matmul__(self,other):
def __ipow__(self,exp):
"""
Rotation of vector, second or fourth order tensor, or rotation object.
Perform the rotation 'exp' times (in-place).
Parameters
----------
other : numpy.ndarray or Rotation
Vector, second or fourth order tensor, or rotation object that is rotated.
exp : float
Exponent.
"""
return self**exp
def __mul__(self,other):
"""
Compose this rotation with other.
Parameters
----------
other : Rotation of shape(self.shape)
Rotation for composition.
Returns
-------
other_rot : numpy.ndarray or Rotation
Rotated vector, second or fourth order tensor, or rotation object.
composition : Rotation
Compound rotation self*other, i.e. first other then self rotation.
"""
if isinstance(other,Rotation):
@ -172,8 +192,71 @@ class Rotation:
q = (q_m*q_o - np.einsum('...i,...i',p_m,p_o).reshape(self.shape+(1,)))
p = q_m*p_o + q_o*p_m + _P * np.cross(p_m,p_o)
return Rotation(np.block([q,p]))._standardize()
else:
raise TypeError('Use "R@b", i.e. matmul, to apply rotation "R" to object "b"')
elif isinstance(other,np.ndarray):
def __imul__(self,other):
"""
Compose this rotation with other (in-place).
Parameters
----------
other : Rotation of shape(self.shape)
Rotation for composition.
"""
return self*other
def __truediv__(self,other):
"""
Compose this rotation with inverse of other.
Parameters
----------
other : damask.Rotation of shape (self.shape)
Rotation to inverse composition.
Returns
-------
composition : Rotation
Compound rotation self*(~other), i.e. first inverse of other then self rotation.
"""
if isinstance(other,Rotation):
return self*~other
else:
raise TypeError('Use "R@b", i.e. matmul, to apply rotation "R" to object "b"')
def __itruediv__(self,other):
"""
Compose this rotation with inverse of other (in-place).
Parameters
----------
other : Rotation of shape (self.shape)
Rotation to inverse composition.
"""
return self/other
def __matmul__(self,other):
"""
Rotation of vector, second order tensor, or fourth order tensor.
Parameters
----------
other : numpy.ndarray of shape (...,3), (...,3,3), or (...,3,3,3,3)
Vector or tensor on which to apply the rotation.
Returns
-------
rotated : numpy.ndarray of shape (...,3), (...,3,3), or (...,3,3,3,3)
Rotated vector or tensor, i.e. transformed to frame defined by rotation.
"""
if isinstance(other,np.ndarray):
if self.shape + (3,) == other.shape:
q_m = self.quaternion[...,0]
p_m = self.quaternion[...,1:]
@ -193,9 +276,13 @@ class Rotation:
return np.einsum('...im,...jn,...ko,...lp,...mnop',R,R,R,R,other)
else:
raise ValueError('Can only rotate vectors, 2nd order tensors, and 4th order tensors')
elif isinstance(other,Rotation):
raise TypeError('Use "R1*R2", i.e. multiplication, to compose rotations "R1" and "R2"')
else:
raise TypeError(f'Cannot rotate {type(other)}')
apply = __matmul__
def _standardize(self):
"""Standardize quaternion (ensure positive real hemisphere)."""
@ -296,7 +383,7 @@ class Rotation:
Rotation to which the misorientation is computed.
"""
return other@~self
return other*~self
################################################################################################
@ -819,7 +906,7 @@ class Rotation:
np.sqrt(1-u**2)*np.sin(Theta),
u, omega])
return Rotation.from_axis_angle(p) @ center
return Rotation.from_axis_angle(p) * center
@staticmethod
@ -870,8 +957,8 @@ class Rotation:
f[::2,:3] *= -1 # flip half the rotation axes to negative sense
return R_align.broadcast_to(N) \
@ Rotation.from_axis_angle(p,normalize=True) \
@ Rotation.from_axis_angle(f)
* Rotation.from_axis_angle(p,normalize=True) \
* Rotation.from_axis_angle(f)
####################################################################################################
@ -1060,7 +1147,6 @@ class Rotation:
@staticmethod
def _om2ax(om):
"""Rotation matrix to axis angle pair."""
#return Rotation._qu2ax(Rotation._om2qu(om)) # HOTFIX
diag_delta = -_P*np.block([om[...,1,2:3]-om[...,2,1:2],
om[...,2,0:1]-om[...,0,2:3],
om[...,0,1:2]-om[...,1,0:1]

6
python/damask/_table.py
View File

@ -42,12 +42,10 @@ class Table:
return len(self.data)
def __copy__(self):
"""Copy Table."""
"""Create deep copy."""
return copy.deepcopy(self)
def copy(self):
"""Copy Table."""
return self.__copy__()
copy = __copy__
def _label_discrete(self):

4
python/tests/test_Config.py
View File

@ -22,6 +22,10 @@ class TestConfig:
with open(tmp_path/'config.yaml') as f:
assert Config.load(f) == config
def test_add_remove(self):
config = Config()
assert config.add({'hello':'world'}).delete('hello') == config
def test_repr(self,tmp_path):
config = Config()
config['A'] = 1

9
python/tests/test_Orientation.py
View File

@ -25,13 +25,16 @@ class TestOrientation:
@pytest.mark.parametrize('shape',[None,5,(4,6)])
def test_equal(self,lattice,shape):
R = Rotation.from_random(shape)
assert Orientation(R,lattice) == Orientation(R,lattice)
assert Orientation(R,lattice) == Orientation(R,lattice) if shape is None else \
(Orientation(R,lattice) == Orientation(R,lattice)).all()
@pytest.mark.parametrize('lattice',Orientation.crystal_families)
@pytest.mark.parametrize('shape',[None,5,(4,6)])
def test_unequal(self,lattice,shape):
R = Rotation.from_random(shape)
assert not(Orientation(R,lattice) != Orientation(R,lattice))
assert not ( Orientation(R,lattice) != Orientation(R,lattice) if shape is None else \
(Orientation(R,lattice) != Orientation(R,lattice)).any())
@pytest.mark.parametrize('a,b',[
(dict(rotation=[1,0,0,0]),
@ -403,7 +406,7 @@ class TestOrientation:
def test_relationship_vectorize(self,set_of_quaternions,lattice,model):
r = Orientation(rotation=set_of_quaternions[:200].reshape((50,4,4)),lattice=lattice).related(model)
for i in range(200):
assert r.reshape((-1,200))[:,i] == Orientation(set_of_quaternions[i],lattice).related(model)
assert (r.reshape((-1,200))[:,i] == Orientation(set_of_quaternions[i],lattice).related(model)).all()
@pytest.mark.parametrize('model',['Bain','KS','GT','GT_prime','NW','Pitsch'])
@pytest.mark.parametrize('lattice',['cF','cI'])

81
python/tests/test_Rotation.py
View File

@ -526,7 +526,7 @@ class TestRotation:
o = backward(forward(m))
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)
ok |= 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 |= np.isclose(sum_phi[0],sum_phi[1],atol=atol)
@ -550,19 +550,22 @@ class TestRotation:
assert ok and np.isclose(np.linalg.norm(o[:3]),1.0) and o[3]<=np.pi+1.e-9, f'{m},{o},{rot.as_quaternion()}'
@pytest.mark.parametrize('forward,backward',[(Rotation._ro2qu,Rotation._qu2ro),
#(Rotation._ro2om,Rotation._om2ro),
#(Rotation._ro2eu,Rotation._eu2ro),
(Rotation._ro2om,Rotation._om2ro),
(Rotation._ro2eu,Rotation._eu2ro),
(Rotation._ro2ax,Rotation._ax2ro),
(Rotation._ro2ho,Rotation._ho2ro),
(Rotation._ro2cu,Rotation._cu2ro)])
def test_Rodrigues_internal(self,set_of_rotations,forward,backward):
"""Ensure invariance of conversion from Rodrigues-Frank vector and back."""
cutoff = np.tan(np.pi*.5*(1.-1e-4))
cutoff = np.tan(np.pi*.5*(1.-1e-5))
for rot in set_of_rotations:
m = rot.as_Rodrigues_vector()
o = backward(forward(m))
ok = np.allclose(np.clip(m,None,cutoff),np.clip(o,None,cutoff),atol=atol)
ok = ok or np.isclose(m[3],0.0,atol=atol)
ok |= np.isclose(m[3],0.0,atol=atol)
if m[3] > cutoff:
ok |= np.allclose(m[:3],-1*o[:3])
assert ok and np.isclose(np.linalg.norm(o[:3]),1.0), f'{m},{o},{rot.as_quaternion()}'
@pytest.mark.parametrize('forward,backward',[(Rotation._ho2qu,Rotation._qu2ho),
@ -592,7 +595,7 @@ class TestRotation:
o = backward(forward(m))
ok = np.allclose(m,o,atol=atol)
if np.count_nonzero(np.isclose(np.abs(o),np.pi**(2./3.)*.5)):
ok = ok or np.allclose(m*-1.,o,atol=atol)
ok |= np.allclose(m*-1.,o,atol=atol)
assert ok and np.max(np.abs(o)) < np.pi**(2./3.) * 0.5 + 1.e-9, f'{m},{o},{rot.as_quaternion()}'
@pytest.mark.parametrize('vectorized, single',[(Rotation._qu2om,qu2om),
@ -719,7 +722,7 @@ class TestRotation:
o = Rotation.from_axis_angle(rot.as_axis_angle()).as_axis_angle()
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)
ok |= np.allclose(m*np.array([-1.,-1.,-1.,1.]),o,atol=atol)
assert ok and np.isclose(np.linalg.norm(o[:3]),1.0) \
and o[3]<=np.pi+1.e-9, f'{m},{o},{rot.as_quaternion()}'
@ -740,7 +743,7 @@ class TestRotation:
m = rot.as_Rodrigues_vector()
o = Rotation.from_homochoric(rot.as_homochoric()*P*-1,P).as_Rodrigues_vector()
ok = np.allclose(np.clip(m,None,cutoff),np.clip(o,None,cutoff),atol=atol)
ok = ok or np.isclose(m[3],0.0,atol=atol)
ok |= np.isclose(m[3],0.0,atol=atol)
assert ok and np.isclose(np.linalg.norm(o[:3]),1.0), f'{m},{o},{rot.as_quaternion()}'
@pytest.mark.parametrize('P',[1,-1])
@ -780,8 +783,22 @@ class TestRotation:
else:
assert r.shape == shape
def test_equal(self):
assert Rotation.from_random(rng_seed=1) == Rotation.from_random(rng_seed=1)
@pytest.mark.parametrize('shape',[None,5,(4,6)])
def test_equal(self,shape):
R = Rotation.from_random(shape,rng_seed=1)
assert R == R if shape is None else (R == R).all()
@pytest.mark.parametrize('shape',[None,5,(4,6)])
def test_unequal(self,shape):
R = Rotation.from_random(shape,rng_seed=1)
assert not (R != R if shape is None else (R != R).any())
def test_equal_ambiguous(self):
qu = np.random.rand(10,4)
qu[:,0] = 0.
qu/=np.linalg.norm(qu,axis=1,keepdims=True)
assert (Rotation(qu) == Rotation(-qu)).all()
def test_inversion(self):
r = Rotation.from_random()
@ -798,7 +815,7 @@ class TestRotation:
p = Rotation.from_random(shape=shape)
s = r.append(p)
print(f'append 2x {shape} --> {s.shape}')
assert s[0,...] == r[0,...] and s[-1,...] == p[-1,...]
assert np.logical_and(s[0,...] == r[0,...], s[-1,...] == p[-1,...]).all()
@pytest.mark.parametrize('shape',[None,1,(1,),(4,2),(3,3,2)])
def test_append_list(self,shape):
@ -806,7 +823,7 @@ class TestRotation:
p = Rotation.from_random(shape=shape)
s = r.append([r,p])
print(f'append 3x {shape} --> {s.shape}')
assert s[0,...] == r[0,...] and s[-1,...] == p[-1,...]
assert np.logical_and(s[0,...] == r[0,...], s[-1,...] == p[-1,...]).all()
@pytest.mark.parametrize('quat,standardized',[
([-1,0,0,0],[1,0,0,0]),
@ -828,7 +845,7 @@ class TestRotation:
@pytest.mark.parametrize('order',['C','F'])
def test_flatten_reshape(self,shape,order):
r = Rotation.from_random(shape=shape)
assert r == r.flatten(order).reshape(shape,order)
assert (r == r.flatten(order).reshape(shape,order)).all()
@pytest.mark.parametrize('function',[Rotation.from_quaternion,
Rotation.from_Euler_angles,
@ -939,7 +956,7 @@ class TestRotation:
def test_rotate_inverse(self):
R = Rotation.from_random()
assert np.allclose(np.eye(3),(~R@R).as_matrix())
assert np.allclose(np.eye(3),(~R*R).as_matrix())
@pytest.mark.parametrize('data',[np.random.rand(3),
np.random.rand(3,3),
@ -973,6 +990,42 @@ class TestRotation:
R_2 = Rotation.from_Euler_angles([360,0,0],degrees=True)
assert np.allclose(R_1.misorientation(R_2).as_matrix(),np.eye(3))
def test_composition(self):
a,b = (Rotation.from_random(),Rotation.from_random())
c = a * b
a *= b
assert c == a
def test_composition_invalid(self):
with pytest.raises(TypeError):
Rotation()*np.ones(3)
def test_composition_inverse(self):
a,b = (Rotation.from_random(),Rotation.from_random())
c = a / b
a /= b
assert c == a
def test_composition_inverse_invalid(self):
with pytest.raises(TypeError):
Rotation()/np.ones(3)
def test_power(self):
a = Rotation.from_random()
r = (np.random.rand()-.5)*4
b = a**r
a **= r
assert a == b
def test_invariant(self):
R = Rotation.from_random()
assert R/R == R*R**(-1) == Rotation()
@pytest.mark.parametrize('item',[np.ones(3),np.ones((3,3)), np.ones((3,3,3,3))])
def test_apply(self,item):
r = Rotation.from_random()
assert (r.apply(item) == r@item).all()
@pytest.mark.parametrize('angle',[10,20,30,40,50,60,70,80,90,100,120])
def test_average(self,angle):
R = Rotation.from_axis_angle([[0,0,1,10],[0,0,1,angle]],degrees=True)