simpler (and scipy compatible)

python/damask/_rotation.py

@@ -253,24 +253,6 @@ class Rotation:
         return self/other
 
 
-    def apply(self,other):
-        """
-        Apply rotation to Rotation, vector, second order tensor, or fourth order tensor.
-
-        Parameters
-        ----------
-        other : Rotation or numpy.ndarray of shape (...,3), (...,3,3), or (...,3,3,3,3)
-            Rotation, vector, or tensor on which to apply the rotation.
-
-        Returns
-        -------
-        rotated : Rotation or numpy.ndarray of shape (...,3), (...,3,3), or (...,3,3,3,3)
-            Composed rotation or rotated vector/tensor, i.e. transformed to frame defined by rotation.
-
-        """
-        return self*other if isinstance(other,Rotation) else self@other
-
-
     def __matmul__(self,other):
         """
         Rotation of vector, second order tensor, or fourth order tensor.
@@ -286,9 +268,7 @@ class Rotation:
             Rotated vector or tensor, i.e. transformed to frame defined by rotation.
 
         """
-        if isinstance(other,Rotation):
-            raise TypeError('Use "R1*R2", i.e. multiplication, to compose rotations "R1" and "R2"')
-        elif isinstance(other,np.ndarray):
+        if isinstance(other,np.ndarray):
             if self.shape + (3,) == other.shape:
                 q_m = self.quaternion[...,0]
                 p_m = self.quaternion[...,1:]
@@ -308,9 +288,13 @@ class Rotation:
                 return np.einsum('...im,...jn,...ko,...lp,...mnop',R,R,R,R,other)
             else:
                 raise ValueError('Can only rotate vectors, 2nd order tensors, and 4th order tensors')
+        elif isinstance(other,Rotation):
+            raise TypeError('Use "R1*R2", i.e. multiplication, to compose rotations "R1" and "R2"')
         else:
             raise TypeError(f'Cannot rotate {type(other)}')
 
+    apply = __matmul__
+
 
     def _standardize(self):
         """Standardize quaternion (ensure positive real hemisphere)."""

python/tests/test_Rotation.py

@@ -1021,10 +1021,10 @@ class TestRotation:
         R = Rotation.from_random()
         assert R/R == R*R**(-1) == Rotation()
 
-    @pytest.mark.parametrize('item',[Rotation(),np.ones(3),np.ones((3,3)), np.ones((3,3,3,3))])
+    @pytest.mark.parametrize('item',[np.ones(3),np.ones((3,3)), np.ones((3,3,3,3))])
     def test_apply(self,item):
         r = Rotation.from_random()
-        assert r.apply(item) == r*item if isinstance(item,Rotation) else (r.apply(item) == r@item).all()
+        assert (r.apply(item) == r@item).all()
 
     @pytest.mark.parametrize('angle',[10,20,30,40,50,60,70,80,90,100,120])
     def test_average(self,angle):