return rotation type (ensures proper rotation)

python/damask/_orientation.py

@@ -956,9 +956,9 @@ class Orientation(Rotation):
 
         """
         if self.family is None or other.family is None:
-            raise ValueError('Missing crystal symmetry')
+            raise ValueError('missing crystal symmetry')
         if self.family != other.family:
-            raise NotImplementedError('Disorientation between different crystal families not supported yet.')
+            raise NotImplementedError('disorientation between different crystal families')
 
         blend = util.shapeblender(self.shape,other.shape)
         s =  self.equivalent

python/damask/_result.py

@@ -944,7 +944,7 @@ class Result:
     @staticmethod
     def _add_rotational(F):
         return {
-                'data':  mechanics.rotational(F['data']),
+                'data':  mechanics.rotational(F['data']).as_matrix(),
                 'label': f"R({F['label']})",
                 'meta':  {
                           'Unit':        F['meta']['Unit'],

python/damask/_rotation.py

@@ -61,12 +61,15 @@ class Rotation:
         elif np.array(rotation).shape[-1] == 4:
             self.quaternion = np.array(rotation)
         else:
-            raise ValueError('"rotation" is neither a Rotation nor a quaternion')
+            raise TypeError('"rotation" is neither a Rotation nor a quaternion')
 
 
     def __repr__(self):
         """Represent rotation as unit quaternion, rotation matrix, and Bunge-Euler angles."""
-        return 'As quaternions:\n'+str(self.quaternion) \
+        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)),

python/damask/mechanics.py

@@ -1,6 +1,7 @@
 """Finite-strain continuum mechanics."""
 
 from . import tensor as _tensor
+from . import _rotation
 
 import numpy as _np
 
@@ -107,11 +108,11 @@ def rotational(T):
 
     Returns
     -------
-    R : numpy.ndarray of shape (...,3,3)
+    R : damask.Rotation of shape (...)
-        Rotational part.
+        Rotational part of the vector.
 
     """
-    return _polar_decomposition(T,'R')[0]
+    return _rotation.Rotation.from_matrix(_polar_decomposition(T,'R')[0])
 
 
 def strain(F,t,m):
@@ -260,7 +261,7 @@ def _polar_decomposition(T,requested):
         output.append(_np.einsum('...ji,...jk',R,T))
 
     if len(output) == 0:
-        raise ValueError('Output needs to be out of V,R,U')
+        raise ValueError('output needs to be out of V, R, U')
 
     return tuple(output)
 

python/tests/test_Result.py

@@ -265,7 +265,7 @@ class TestResult:
         default.add_rotational('F')
         loc = {'F':    default.get_dataset_location('F'),
                'R(F)': default.get_dataset_location('R(F)')}
-        in_memory = mechanics.rotational(default.read_dataset(loc['F'],0))
+        in_memory = mechanics.rotational(default.read_dataset(loc['F'],0)).as_matrix()
         in_file   = default.read_dataset(loc['R(F)'],0)
         assert np.allclose(in_memory,in_file)
 

python/tests/test_Rotation.py

@@ -682,6 +682,9 @@ class TestRotation:
         for v,o in zip(vec,ori):
             assert np.allclose(func(v,normalize=True).as_quaternion(),o.as_quaternion())
 
+    def test_invalid_init(self):
+        with pytest.raises(TypeError):
+            Rotation(np.ones(3))
 
     @pytest.mark.parametrize('degrees',[True,False])
     def test_Eulers(self,set_of_rotations,degrees):
@@ -831,6 +834,13 @@ class TestRotation:
         with pytest.raises(ValueError):
             function(invalid_shape)
 
+    def test_invalid_shape_parallel(self):
+        invalid_a = np.random.random(np.random.randint(8,32,(3)))
+        invalid_b = np.random.random(np.random.randint(8,32,(3)))
+        with pytest.raises(ValueError):
+            Rotation.from_parallel(invalid_a,invalid_b)
+
+
     @pytest.mark.parametrize('fr,to',[(Rotation.from_quaternion,'as_quaternion'),
                                       (Rotation.from_axis_angle,'as_axis_angle'),
                                       (Rotation.from_Rodrigues_vector, 'as_Rodrigues_vector'),

python/tests/test_mechanics.py

@@ -3,6 +3,7 @@ import numpy as np
 
 from damask import tensor
 from damask import mechanics
+from damask import Rotation
 
 def stress_Cauchy(P,F):
     sigma = 1.0/np.linalg.det(F) * np.dot(P,F.T)
@@ -96,7 +97,6 @@ class TestMechanics:
     @pytest.mark.parametrize('vectorized,single',[(mechanics.maximum_shear,           maximum_shear),
                                                   (mechanics.equivalent_stress_Mises, equivalent_stress_Mises),
                                                   (mechanics.equivalent_strain_Mises, equivalent_strain_Mises),
-                                                  (mechanics.rotational,              rotational),
                                                   (mechanics.stretch_left,            stretch_left),
                                                   (mechanics.stretch_right,           stretch_right),
                                                  ])
@@ -106,6 +106,14 @@ class TestMechanics:
         for i,v in enumerate(np.reshape(vectorized(epsilon_vec),vectorized(epsilon).shape)):
             assert np.allclose(single(epsilon[i]),v)
 
+    def test_vectorize_rotation(self):
+        epsilon     = Rotation.from_random(self.n).as_matrix()
+        epsilon_vec = np.reshape(epsilon,(self.n//10,10,3,3))
+        for i,v in enumerate(np.reshape(mechanics.rotational(epsilon_vec).as_matrix(),
+                                        mechanics.rotational(epsilon).as_matrix().shape)):
+            assert np.allclose(rotational(epsilon[i]),v)
+
+
     @pytest.mark.parametrize('vectorized,single',[(mechanics.stress_Cauchy,                 stress_Cauchy),
                                                   (mechanics.stress_second_Piola_Kirchhoff, stress_second_Piola_Kirchhoff)
                                                  ])
@@ -138,7 +146,7 @@ class TestMechanics:
     def test_polar_decomposition(self):
         """F = RU = VR."""
         F = np.broadcast_to(np.eye(3),[self.n,3,3])*np.random.rand(self.n,3,3)
-        R = mechanics.rotational(F)
+        R = mechanics.rotational(F).as_matrix()
         V = mechanics.stretch_left(F)
         U = mechanics.stretch_right(F)
         assert np.allclose(np.matmul(R,U),
@@ -162,7 +170,7 @@ class TestMechanics:
     @pytest.mark.parametrize('t',['V','U'])
     def test_strain_rotation(self,m,t):
         """Ensure that pure rotation results in no strain."""
-        F = mechanics.rotational(np.random.rand(self.n,3,3))
+        F = Rotation.from_random(self.n).as_matrix()
         assert np.allclose(mechanics.strain(F,t,m),
                            0.0)
 
@@ -173,7 +181,7 @@ class TestMechanics:
         Should be +1, but random F might contain a reflection.
         """
         x = np.random.rand(self.n,3,3)
-        assert np.allclose(np.abs(np.linalg.det(mechanics.rotational(x))),
+        assert np.allclose(np.abs(np.linalg.det(mechanics._polar_decomposition(x,'R')[0])),
                            1.0)
 
     def test_deviatoric_Mises(self):
@@ -203,3 +211,7 @@ class TestMechanics:
         """Ensure that sherical stress has max shear of 0.0."""
         A = tensor.spherical(tensor.symmetric(np.random.rand(self.n,3,3)),True)
         assert np.allclose(mechanics.maximum_shear(A),0.0)
+
+    def test_invalid_decomposition(self):
+        with pytest.raises(ValueError):
+            mechanics._polar_decomposition(np.random.rand(10,3,3),'A')