Merge branch 'vectorized-orientation-conversion' into no-python-quaternion
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commit
99684c3e86
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@ -246,9 +246,8 @@ class Rotation:
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################################################################################################
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# static constructors. The input data needs to follow the convention, options allow to
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# relax these convections
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@classmethod
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def fromQuaternion(cls,
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quaternion,
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@staticmethod
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def fromQuaternion(quaternion,
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acceptHomomorph = False,
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P = -1):
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@ -263,11 +262,10 @@ class Rotation:
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if not np.isclose(np.linalg.norm(qu), 1.0):
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raise ValueError('Quaternion is not of unit length.\n{} {} {} {}'.format(*qu))
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return cls(qu)
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return Rotation(qu)
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@classmethod
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def fromEulers(cls,
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eulers,
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@staticmethod
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def fromEulers(eulers,
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degrees = False):
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eu = eulers if isinstance(eulers, np.ndarray) and eulers.dtype == np.dtype(float) \
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@ -276,11 +274,10 @@ class Rotation:
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if np.any(eu < 0.0) or np.any(eu > 2.0*np.pi) or eu[1] > np.pi:
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raise ValueError('Euler angles outside of [0..2π],[0..π],[0..2π].\n{} {} {}.'.format(*eu))
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return cls(eu2qu(eu))
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return Rotation(eu2qu(eu))
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@classmethod
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def fromAxisAngle(cls,
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angleAxis,
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@staticmethod
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def fromAxisAngle(angleAxis,
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degrees = False,
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normalise = False,
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P = -1):
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@ -295,11 +292,10 @@ class Rotation:
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if not np.isclose(np.linalg.norm(ax[0:3]), 1.0):
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raise ValueError('Axis angle rotation axis is not of unit length.\n{} {} {}'.format(*ax[0:3]))
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return cls(ax2qu(ax))
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return Rotation(ax2qu(ax))
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@classmethod
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def fromBasis(cls,
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basis,
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@staticmethod
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def fromBasis(basis,
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orthonormal = True,
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reciprocal = False,
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):
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@ -318,18 +314,16 @@ class Rotation:
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or not np.isclose(np.dot(om[2],om[0]), 0.0):
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raise ValueError('matrix is not orthogonal.\n{}'.format(om))
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return cls(om2qu(om))
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return Rotation(om2qu(om))
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@classmethod
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def fromMatrix(cls,
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om,
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@staticmethod
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def fromMatrix(om,
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):
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return cls.fromBasis(om)
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return Rotation.fromBasis(om)
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@classmethod
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def fromRodrigues(cls,
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rodrigues,
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@staticmethod
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def fromRodrigues(rodrigues,
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normalise = False,
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P = -1):
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@ -342,22 +336,20 @@ class Rotation:
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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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return Rotation(ro2qu(ro))
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@classmethod
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def fromHomochoric(cls,
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homochoric,
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@staticmethod
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def fromHomochoric(homochoric,
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P = -1):
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ho = homochoric if isinstance(homochoric, np.ndarray) and homochoric.dtype == np.dtype(float) \
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else np.array(homochoric,dtype=float)
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if P > 0: ho *= -1 # convert from P=1 to P=-1
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return cls(ho2qu(ho))
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return Rotation(ho2qu(ho))
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@classmethod
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def fromCubochoric(cls,
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cubochoric,
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@staticmethod
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def fromCubochoric(cubochoric,
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P = -1):
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cu = cubochoric if isinstance(cubochoric, np.ndarray) and cubochoric.dtype == np.dtype(float) \
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@ -365,12 +357,11 @@ class Rotation:
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ho = cu2ho(cu)
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if P > 0: ho *= -1 # convert from P=1 to P=-1
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return cls(ho2qu(ho))
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return Rotation(ho2qu(ho))
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@classmethod
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def fromAverage(cls,
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rotations,
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@staticmethod
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def fromAverage(rotations,
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weights = []):
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"""
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Average rotation.
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@ -400,11 +391,11 @@ class Rotation:
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else M + r.asM() * n # noqa add (multiples) of this rotation to average noqa
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eig, vec = np.linalg.eig(M/N)
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return cls.fromQuaternion(np.real(vec.T[eig.argmax()]),acceptHomomorph = True)
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return Rotation.fromQuaternion(np.real(vec.T[eig.argmax()]),acceptHomomorph = True)
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@classmethod
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def fromRandom(cls):
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@staticmethod
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def fromRandom():
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r = np.random.random(3)
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A = np.sqrt(r[2])
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B = np.sqrt(1.0-r[2])
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@ -412,7 +403,7 @@ class Rotation:
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x = np.sin(2.0*np.pi*r[1])*B
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y = np.cos(2.0*np.pi*r[1])*B
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z = np.sin(2.0*np.pi*r[0])*A
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return cls.fromQuaternion([w,x,y,z],acceptHomomorph=True)
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return Rotation.fromQuaternion([w,x,y,z],acceptHomomorph=True)
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@ -1181,9 +1172,8 @@ class Orientation:
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return color
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@classmethod
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def fromAverage(cls,
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orientations,
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@staticmethod
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def fromAverage(orientations,
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weights = []):
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"""Create orientation from average of list of orientations."""
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if not all(isinstance(item, Orientation) for item in orientations):
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