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np.linalg.norm -> get_norm

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This commit is contained in:
Grant Sanderson
2018-08-15 17:30:24 -07:00
parent f926611d34
commit 365093c0b5
82 changed files with 310 additions and 281 deletions
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19
utils/space_ops.py
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@ -6,6 +6,9 @@ from functools import reduce
# Matrix operations
def get_norm(vect):
return sum([x**2 for x in vect])**0.5
def thick_diagonal(dim, thickness=2):
row_indices = np.arange(dim).repeat(dim).reshape((dim, dim))
@ -36,14 +39,14 @@ def z_to_vector(vector):
Returns some matrix in SO(3) which takes the z-axis to the
(normalized) vector provided as an argument
"""
norm = np.linalg.norm(vector)
norm = get_norm(vector)
if norm == 0:
return np.identity(3)
v = np.array(vector) / norm
phi = np.arccos(v[2])
if any(v[:2]):
# projection of vector to unit circle
axis_proj = v[:2] / np.linalg.norm(v[:2])
axis_proj = v[:2] / get_norm(v[:2])
theta = np.arccos(axis_proj[0])
if axis_proj[1] < 0:
theta = -theta
@ -63,8 +66,8 @@ def rotate_vector(vector, angle, axis=OUT):
def angle_between(v1, v2):
return np.arccos(np.dot(
v1 / np.linalg.norm(v1),
v2 / np.linalg.norm(v2)
v1 / get_norm(v1),
v2 / get_norm(v2)
))
@ -83,8 +86,8 @@ def angle_between_vectors(v1, v2):
Returns the angle between two 3D vectors.
This angle will always be btw 0 and TAU/2.
"""
l1 = np.linalg.norm(v1)
l2 = np.linalg.norm(v2)
l1 = get_norm(v1)
l2 = get_norm(v2)
return np.arccos(np.dot(v1, v2) / (l1 * l2))
@ -93,10 +96,6 @@ def project_along_vector(point, vector):
return np.dot(point, matrix.T)
def get_norm(vect):
return sum([x**2 for x in vect])**0.5
def normalize(vect):
norm = get_norm(vect)
if norm > 0: