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fixed normalization of multidimensional axes (from_Rodrigues, from_axis_angle)

This commit is contained in:
Philip Eisenlohr 2020-09-15 13:09:24 -04:00
parent 7cda092ab9
commit d02617c961
1 changed files with 2 additions and 2 deletions
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4
python/damask/_rotation.py
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@ -434,7 +434,7 @@ class Rotation:
if P == 1: ax[...,0:3] *= -1 if P == 1: ax[...,0:3] *= -1
if degrees: ax[..., 3] = np.radians(ax[...,3]) 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): if np.any(ax[...,3] < 0.0) or np.any(ax[...,3] > np.pi):
raise ValueError('Axis angle rotation angle outside of [0..π].') 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)): 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}') raise ValueError('P ∉ {-1,1}')
if P == 1: ro[...,0:3] *= -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): if np.any(ro[...,3] < 0.0):
raise ValueError('Rodrigues vector rotation angle not positive.') raise ValueError('Rodrigues vector rotation angle not positive.')
if not np.all(np.isclose(np.linalg.norm(ro[...,0:3],axis=-1), 1.0)): if not np.all(np.isclose(np.linalg.norm(ro[...,0:3],axis=-1), 1.0)):