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DAMASK_EICMD
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polishing

This commit is contained in:
Martin Diehl 2020-07-24 22:42:16 +02:00
parent 326b82b3aa
commit daab5a8952
1 changed files with 11 additions and 17 deletions
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28
python/tests/test_Rotation.py
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@ -130,21 +130,21 @@ def qu2ho(qu):
#---------- Rotation matrix ---------- #---------- Rotation matrix ----------
def om2qu(a): def om2qu(om):
trace = a[0,0] + a[1,1] + a[2,2] trace = om.trace()
if trace > 0: if trace > 0:
s = 0.5 / np.sqrt(trace+ 1.0) s = 0.5 / np.sqrt(trace+ 1.0)
qu = np.array([0.25 / s,( a[2,1] - a[1,2] ) * s,( a[0,2] - a[2,0] ) * s,( a[1,0] - a[0,1] ) * s]) qu = np.array([0.25 / s,( om[2,1] - om[1,2] ) * s,( om[0,2] - om[2,0] ) * s,( om[1,0] - om[0,1] ) * s])
else: else:
if ( a[0,0] > a[1,1] and a[0,0] > a[2,2] ): if ( om[0,0] > om[1,1] and om[0,0] > om[2,2] ):
s = 2.0 * np.sqrt( 1.0 + a[0,0] - a[1,1] - a[2,2]) s = 2.0 * np.sqrt( 1.0 + om[0,0] - om[1,1] - om[2,2])
qu = np.array([ (a[2,1] - a[1,2]) / s,0.25 * s,(a[0,1] + a[1,0]) / s,(a[0,2] + a[2,0]) / s]) qu = np.array([ (om[2,1] - om[1,2]) / s,0.25 * s,(om[0,1] + om[1,0]) / s,(om[0,2] + om[2,0]) / s])
elif (a[1,1] > a[2,2]): elif (om[1,1] > om[2,2]):
s = 2.0 * np.sqrt( 1.0 + a[1,1] - a[0,0] - a[2,2]) s = 2.0 * np.sqrt( 1.0 + om[1,1] - om[0,0] - om[2,2])
qu = np.array([ (a[0,2] - a[2,0]) / s,(a[0,1] + a[1,0]) / s,0.25 * s,(a[1,2] + a[2,1]) / s]) qu = np.array([ (om[0,2] - om[2,0]) / s,(om[0,1] + om[1,0]) / s,0.25 * s,(om[1,2] + om[2,1]) / s])
else: else:
s = 2.0 * np.sqrt( 1.0 + a[2,2] - a[0,0] - a[1,1] ) s = 2.0 * np.sqrt( 1.0 + om[2,2] - om[0,0] - om[1,1] )
qu = np.array([ (a[1,0] - a[0,1]) / s,(a[0,2] + a[2,0]) / s,(a[1,2] + a[2,1]) / s,0.25 * s]) qu = np.array([ (om[1,0] - om[0,1]) / s,(om[0,2] + om[2,0]) / s,(om[1,2] + om[2,1]) / s,0.25 * s])
if qu[0]<0: qu*=-1 if qu[0]<0: qu*=-1
return qu*np.array([1.,_P,_P,_P]) return qu*np.array([1.,_P,_P,_P])
@ -163,7 +163,6 @@ def om2eu(om):
def om2ax(om): def om2ax(om):
"""Rotation matrix to axis angle pair.""" """Rotation matrix to axis angle pair."""
#return qu2ax(om2qu(om)) # HOTFIX
ax=np.empty(4) ax=np.empty(4)
# first get the rotation angle # first get the rotation angle
@ -446,11 +445,6 @@ def mul(me, other):
other : numpy.ndarray or Rotation other : numpy.ndarray or Rotation
Vector, second or fourth order tensor, or rotation object that is rotated. Vector, second or fourth order tensor, or rotation object that is rotated.
Todo
----
Document details active/passive)
consider rotation of (3,3,3,3)-matrix
""" """
if me.quaternion.shape != (4,): if me.quaternion.shape != (4,):
raise NotImplementedError('Support for multiple rotations missing') raise NotImplementedError('Support for multiple rotations missing')