more vectorized functions
This commit is contained in:
Martin Diehl
parent
4e759d6c98
commit
99655c9f61
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@ -767,8 +767,8 @@ class Rotation:
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def eu2ro(eu):
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"""Bunge-Euler angles to Rodrigues-Frank vector."""
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if len(eu.shape) == 1:
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ro = Rotation.eu2ax(eu) # convert to axis angle pair representation
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if ro[3] >= np.pi: # Differs from original implementation. check convention 5
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ro = Rotation.eu2ax(eu) # convert to axis angle pair representation
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if ro[3] >= np.pi: # Differs from original implementation. check convention 5
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ro[3] = np.inf
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elif iszero(ro[3]):
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ro = np.array([ 0.0, 0.0, P, 0.0 ])
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@ -902,27 +902,38 @@ class Rotation:
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@staticmethod
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def ro2ax(ro):
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"""Rodrigues-Frank vector to axis angle pair."""
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ta = ro[3]
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if iszero(ta):
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ax = [ 0.0, 0.0, 1.0, 0.0 ]
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elif not np.isfinite(ta):
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ax = [ ro[0], ro[1], ro[2], np.pi ]
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if len(ro.shape) == 1:
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if np.abs(ro[3]) < 1.e-6:
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ax = np.array([ 0.0, 0.0, 1.0, 0.0 ])
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elif not np.isfinite(ro[3]):
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ax = np.array([ ro[0], ro[1], ro[2], np.pi ])
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else:
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angle = 2.0*np.arctan(ro[3])
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ta = np.linalg.norm(ro[0:3])
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ax = np.array([ ro[0]*ta, ro[1]*ta, ro[2]*ta, angle ])
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else:
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angle = 2.0*np.arctan(ta)
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ta = 1.0/np.linalg.norm(ro[0:3])
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ax = [ ro[0]/ta, ro[1]/ta, ro[2]/ta, angle ]
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return np.array(ax)
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with np.errstate(invalid='ignore',divide='ignore'):
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ax = np.where(np.isfinite(ro[...,3:4]),
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np.block([ro[...,0:3]*np.linalg.norm(ro[...,0:3],axis=-1,keepdims=True),2.*np.arctan(ro[...,3:4])]),
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np.block([ro[...,0:3],np.broadcast_to(np.pi,ro[...,3:4].shape)]))
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ax[np.abs(ro[...,3]) < 1.e-6] = np.array([ 0.0, 0.0, 1.0, 0.0 ])
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return ax
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@staticmethod
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def ro2ho(ro):
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"""Rodrigues-Frank vector to homochoric vector."""
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if iszero(np.sum(ro[0:3]**2.0)):
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ho = [ 0.0, 0.0, 0.0 ]
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if len(ro.shape) == 1:
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if np.sum(ro[0:3]**2.0) < 1.e-6:
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ho = np.zeros(3)
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else:
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f = 2.0*np.arctan(ro[3]) -np.sin(2.0*np.arctan(ro[3])) if np.isfinite(ro[3]) else np.pi
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ho = ro[0:3] * (0.75*f)**(1.0/3.0)
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else:
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f = 2.0*np.arctan(ro[3]) -np.sin(2.0*np.arctan(ro[3])) if np.isfinite(ro[3]) else np.pi
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ho = ro[0:3] * (0.75*f)**(1.0/3.0)
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return np.array(ho)
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f = np.where(np.isfinite(ro[...,3:4]),2.0*np.arctan(ro[...,3:4]) -np.sin(2.0*np.arctan(ro[...,3:4])),np.pi)
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ho = np.where(np.broadcast_to(np.sum(ro[...,0:3]**2.0,axis=-1,keepdims=True) < 1.e-6,ro[...,0:3].shape),
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np.zeros(3), ro[...,0:3]* (0.75*f)**(1.0/3.0))
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return ho
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@staticmethod
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def ro2cu(ro):
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@ -123,7 +123,7 @@ class TestRotation:
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print(m,o,rot.asQuaternion())
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assert ok and np.isclose(np.linalg.norm(o[:3]),1.0) and o[3]<=np.pi++1.e-9
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def test_Rodriques(self,default):
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def test_Rodrigues(self,default):
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for rot in default:
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m = rot.asMatrix()
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o = Rotation.fromRodrigues(rot.asRodrigues()).asMatrix()
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@ -164,18 +164,21 @@ class TestRotation:
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Rotation.qu2ho])
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def test_quaternion_vectorization(self,default,conversion):
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qu = np.array([rot.asQuaternion() for rot in default])
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dev_null = conversion(qu.reshape(qu.shape[0]//2,-1,4))
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conversion(qu.reshape(qu.shape[0]//2,-1,4))
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co = conversion(qu)
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for q,c in zip(qu,co):
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print(q,c)
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assert np.allclose(conversion(q),c)
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@pytest.mark.parametrize('conversion',[Rotation.om2eu,
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@pytest.mark.parametrize('conversion',[Rotation.om2qu,
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Rotation.om2eu,
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Rotation.om2ax,
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Rotation.om2ro,
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Rotation.om2ho,
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])
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def test_matrix_vectorization(self,default,conversion):
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om = np.array([rot.asMatrix() for rot in default])
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dev_null = conversion(om.reshape(om.shape[0]//2,-1,3,3))
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conversion(om.reshape(om.shape[0]//2,-1,3,3))
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co = conversion(om)
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for o,c in zip(om,co):
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print(o,c)
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@ -185,10 +188,11 @@ class TestRotation:
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Rotation.eu2om,
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Rotation.eu2ax,
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Rotation.eu2ro,
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Rotation.eu2ho,
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])
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def test_Euler_vectorization(self,default,conversion):
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eu = np.array([rot.asEulers() for rot in default])
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dev_null = conversion(eu.reshape(eu.shape[0]//2,-1,3))
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conversion(eu.reshape(eu.shape[0]//2,-1,3))
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co = conversion(eu)
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for e,c in zip(eu,co):
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print(e,c)
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@ -196,13 +200,29 @@ class TestRotation:
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@pytest.mark.parametrize('conversion',[Rotation.ax2qu,
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Rotation.ax2om,
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Rotation.ax2eu,
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Rotation.ax2ro,
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Rotation.ax2ho,
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])
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def test_axisAngle_vectorization(self,default,conversion):
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ax = np.array([rot.asAxisAngle() for rot in default])
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dev_null = conversion(ax.reshape(ax.shape[0]//2,-1,4))
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conversion(ax.reshape(ax.shape[0]//2,-1,4))
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co = conversion(ax)
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for a,c in zip(ax,co):
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print(a,c)
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assert np.allclose(conversion(a),c)
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@pytest.mark.parametrize('conversion',[Rotation.ro2qu,
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Rotation.ro2om,
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Rotation.ro2eu,
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Rotation.ro2ax,
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Rotation.ro2ho,
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])
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def test_Rodrigues_vectorization(self,default,conversion):
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ro = np.array([rot.asRodrigues() for rot in default])
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conversion(ro.reshape(ro.shape[0]//2,-1,4))
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co = conversion(ro)
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for r,c in zip(ro,co):
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print(r,c)
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assert np.allclose(conversion(r),c)
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