def export(self, to='rotmat'):
'''
Conversion to other formats. May be slow for "Fick", "Helmholtz", and "Euler".
Parameters
----------
to : string
content of returned values
* 'rotmat' : rotation matrices (default), each flattened to a 9-dim vector
* 'Euler' : Euler angles
* 'Fick' : Fick angles
* 'Helmholtz' : Helmholtz angles
* 'vector' : vector part of the quaternion
Returns
-------
ndarray, with the specified content
Examples
--------
>>> q = Quaternion([0,0.2,0.1])
>>> rm = q.export()
>>> fick = q.export('Fick')
'''
if to.lower() == 'rotmat' :
return convert(self.values, 'rotmat')
if to.lower() == 'vector' :
return self.values[:,1:]
if to.lower() == 'euler':
Euler = np.zeros((len(self),3))
rm = self.export()
if rm.shape == (3,3):
rm = rm.reshape((1,9))
for ii in range(len(self)):
Euler[ii,:] = rotmat.rotmat2Euler(rm[ii].reshape((3,3)))
return Euler
if to.lower() == 'fick':
Fick = np.zeros((len(self),3))
rm = self.export()
if rm.shape == (3,3):
rm = rm.reshape((1,9))
for ii in range(len(self)):
Fick[ii,:] = rotmat.rotmat2Fick(rm[ii].reshape((3,3)))
return Fick
if to.lower() == 'helmholtz':
Helmholtz = np.zeros((len(self),3))
rm = self.export()
if rm.shape == (3,3):
rm = rm.reshape((1,9))
for ii in range(len(self)):
Helmholtz[ii,:] = rotmat.rotmat2Helmholtz(rm[ii].reshape((3,3)))
return Helmholtz
def test_Euler(self):
testmat = np.array([[np.sqrt(2)/2, -np.sqrt(2)/2, 0],
[np.sqrt(2)/2, np.sqrt(2)/2, 0],
[0, 0, 1]])
Euler = rotmat.rotmat2Euler(testmat)
correct = np.r_[[np.pi/4,0,0]]
self.assertAlmostEqual(np.linalg.norm(correct - np.array(Euler)), 0)
def export(self, to='rotmat'):
'''
Conversion to other formats. May be slow for "Fick", "Helmholtz", and "Euler".
Parameters
----------
to : string
content of returned values
* 'rotmat' : rotation matrices (default), each flattened to a 9-dim vector
* 'Euler' : Euler angles
* 'Fick' : Fick angles
* 'Helmholtz' : Helmholtz angles
* 'vector' : vector part of the quaternion
Returns
-------
ndarray, with the specified content
Examples
--------
>>> q = Quaternion([0,0.2,0.1])
>>> rm = q.export()
>>> fick = q.export('Fick')
'''
if to.lower() == 'rotmat':
return convert(self.values, 'rotmat')
if to.lower() == 'vector':
return self.values[:, 1:]
if to.lower() == 'euler':
Euler = np.zeros((len(self), 3))
rm = self.export()
if rm.shape == (3, 3):
rm = rm.reshape((1, 9))
for ii in range(len(self)):
Euler[ii, :] = rotmat.rotmat2Euler(rm[ii].reshape((3, 3)))
return Euler
if to.lower() == 'fick':
Fick = np.zeros((len(self), 3))
rm = self.export()
if rm.shape == (3, 3):
rm = rm.reshape((1, 9))
for ii in range(len(self)):
Fick[ii, :] = rotmat.rotmat2Fick(rm[ii].reshape((3, 3)))
return Fick
if to.lower() == 'helmholtz':
Helmholtz = np.zeros((len(self), 3))
rm = self.export()
if rm.shape == (3, 3):
rm = rm.reshape((1, 9))
for ii in range(len(self)):
Helmholtz[ii, :] = rotmat.rotmat2Helmholtz(rm[ii].reshape(
(3, 3)))
return Helmholtz
def test_Euler(self):
testmat = np.array([[np.sqrt(2) / 2, -np.sqrt(2) / 2, 0],
[np.sqrt(2) / 2, np.sqrt(2) / 2, 0], [0, 0, 1]])
Euler = rotmat.rotmat2Euler(testmat)
correct = np.r_[[np.pi / 4, 0, 0]]
self.assertAlmostEqual(np.linalg.norm(correct - np.array(Euler)), 0)