Commit bf2fd07b authored by Kelvin's avatar Kelvin
Browse files

revert the revert

parent 9e39926a

ale/rotation.py

+17 −17
Original line number Diff line number Diff line
@@ -198,23 +198,23 @@ class TimeDependentRotation: 
        """

        quats = self._rots.as_quat()



        # # First find the largest magnitude quaternion coefficient and its coordinate

        # num_quats = len(quats)

        # max_q = 0.0

        # max_j = 0

        # for i in range(num_quats):

        #     for j in range(4):

        #         if abs(quats[i][j]) > abs(max_q):

        #             max_q = quats[i][j]

        #             max_j = j



        # # Ensure the signs are consistent

        # qcnt = 0

        # for i in range(num_quats):

        #     if quats[i][max_j] * max_q < 0:

        #         qcnt = qcnt + 1

        #         for j in range(4):

        #             quats[i][j] *= -1.0

        # First find the largest magnitude quaternion coefficient and its coordinate

        num_quats = len(quats)

        max_q = 0.0

        max_j = 0

        for i in range(num_quats):

            for j in range(4):

                if abs(quats[i][j]) > abs(max_q):

                    max_q = quats[i][j]

                    max_j = j



        # Ensure the signs are consistent

        qcnt = 0

        for i in range(num_quats):

            if quats[i][max_j] * max_q < 0:

                qcnt = qcnt + 1

                for j in range(4):

                    quats[i][j] *= -1.0



        return quats

tests/pytests/data/isds/dawnvir_isd.json

+4 −4
Original line number Diff line number Diff line
@@ -339,10 +339,10 @@ 
    ],

    "quaternions": [

      [

        -0.08339426680875163,

        0.2825790922154143,

        -0.2899354389711647,

        0.9105667982826637

        0.08339426680875163,

        -0.2825790922154143,

        0.2899354389711647,

        -0.9105667982826637

      ],

      [

        -0.05753008804150366,