From d02617c9616e7fdc309b80500fb70f39a1b9282f Mon Sep 17 00:00:00 2001
From: Philip Eisenlohr <eisenlohr@egr.msu.edu>
Date: Tue, 15 Sep 2020 13:09:24 -0400
Subject: [PATCH 1/2] fixed normalization of multidimensional axes
 (from_Rodrigues, from_axis_angle)

---
 python/damask/_rotation.py | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/python/damask/_rotation.py b/python/damask/_rotation.py
index ac7b3ace8..c023984e6 100644
--- a/python/damask/_rotation.py
+++ b/python/damask/_rotation.py
@@ -434,7 +434,7 @@ class Rotation:
 
         if P == 1:    ax[...,0:3] *= -1
         if degrees:   ax[...,  3]  = np.radians(ax[...,3])
-        if normalize: ax[...,0:3] /= np.linalg.norm(ax[...,0:3],axis=-1)
+        if normalize: ax[...,0:3] /= np.linalg.norm(ax[...,0:3],axis=-1,keepdims=True)
         if np.any(ax[...,3] < 0.0) or np.any(ax[...,3] > np.pi):
             raise ValueError('Axis angle rotation angle outside of [0..π].')
         if not np.all(np.isclose(np.linalg.norm(ax[...,0:3],axis=-1), 1.0)):
@@ -516,7 +516,7 @@ class Rotation:
             raise ValueError('P ∉ {-1,1}')
 
         if P == 1:    ro[...,0:3] *= -1
-        if normalize: ro[...,0:3] /= np.linalg.norm(ro[...,0:3],axis=-1)
+        if normalize: ro[...,0:3] /= np.linalg.norm(ro[...,0:3],axis=-1,keepdims=True)
         if np.any(ro[...,3] < 0.0):
             raise ValueError('Rodrigues vector rotation angle not positive.')
         if not np.all(np.isclose(np.linalg.norm(ro[...,0:3],axis=-1), 1.0)):

From 9e93e8b7102986b1bdd75a5d5a59f925727b6ce8 Mon Sep 17 00:00:00 2001
From: Martin Diehl <mail@martin-diehl.net>
Date: Tue, 15 Sep 2020 19:59:03 +0200
Subject: [PATCH 2/2] test for last commit

---
 python/tests/test_Rotation.py | 9 +++++++++
 1 file changed, 9 insertions(+)

diff --git a/python/tests/test_Rotation.py b/python/tests/test_Rotation.py
index 3ed1f27c6..1696ef247 100644
--- a/python/tests/test_Rotation.py
+++ b/python/tests/test_Rotation.py
@@ -686,6 +686,15 @@ class TestRotation:
             print(u,c)
             assert np.allclose(single(u),c) and np.allclose(single(u),vectorized(u))
 
+    @pytest.mark.parametrize('func',[Rotation.from_axis_angle])
+    def test_normalization_vectorization(self,func):
+        """Check vectorized implementation normalization."""
+        vec = np.random.rand(5,4)
+        ori = func(vec,normalize=True)
+        for v,o in zip(vec,ori):
+            assert np.allclose(func(v,normalize=True).as_quaternion(),o.as_quaternion())
+
+
     @pytest.mark.parametrize('degrees',[True,False])
     def test_Eulers(self,set_of_rotations,degrees):
         for rot in set_of_rotations: