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Merge branch 'compose-broadcasted-rotations' into 'development' 

Numpy-intrinsic broadcasting for "outer" rotation compositions

See merge request damask/DAMASK!804
This commit is contained in:
Martin Diehl 2023-08-28 12:49:45 +00:00
parent f80a8e7f49 0393bdb214
commit ea8359ddc8
2 changed files with 9 additions and 1 deletions
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3
python/damask/_rotation.py
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@ -307,7 +307,8 @@ class Rotation:
p_m = self.quaternion[...,1:] p_m = self.quaternion[...,1:]
q_o = other.quaternion[...,0:1] q_o = other.quaternion[...,0:1]
p_o = other.quaternion[...,1:] p_o = other.quaternion[...,1:]
q = (q_m*q_o - np.einsum('...i,...i',p_m,p_o).reshape(self.shape+(1,))) qmo = q_m*q_o
q = (qmo - np.einsum('...i,...i',p_m,p_o).reshape(qmo.shape))
p = q_m*p_o + q_o*p_m + _P * np.cross(p_m,p_o) p = q_m*p_o + q_o*p_m + _P * np.cross(p_m,p_o)
return self.copy(Rotation(np.block([q,p]))._standardize()) return self.copy(Rotation(np.block([q,p]))._standardize())
else: else:

7
python/tests/test_Rotation.py
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@ -975,6 +975,13 @@ class TestRotation:
assert np.allclose(rot_broadcast.quaternion[...,i,:], rot.quaternion) assert np.allclose(rot_broadcast.quaternion[...,i,:], rot.quaternion)
@pytest.mark.parametrize('shape',[(3,2),(4,6)])
def test_broadcastcomposition(self,shape):
a = Rotation.from_random(shape[0])
b = Rotation.from_random(shape[1])
assert (a[:,np.newaxis]*b[np.newaxis,:]).allclose(a.broadcast_to(shape)*b.broadcast_to(shape))
@pytest.mark.parametrize('function,invalid',[(Rotation.from_quaternion, np.array([-1,0,0,0])), @pytest.mark.parametrize('function,invalid',[(Rotation.from_quaternion, np.array([-1,0,0,0])),
(Rotation.from_quaternion, np.array([1,1,1,0])), (Rotation.from_quaternion, np.array([1,1,1,0])),
(Rotation.from_Euler_angles, np.array([1,4,0])), (Rotation.from_Euler_angles, np.array([1,4,0])),