Merge remote-tracking branch 'origin/multidim-rotation-axes' into development

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)):

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: