X-Axis Rotation Tensor For Different Angles in a Tensor

This example generates a tensor of rotation matrices that rotate a vector about the x-axis by angles given in the tensor.

from csdl_om import Simulatorfrom csdl import Modelimport csdlimport numpy as np

class ExampleDiffRadianTensorRotX(Model):
    def define(self):
        # Shape of a random tensor rotation matrix        shape = (2, 3, 4)
        num_elements = np.prod(shape)
        # Vector of angles in radians        angle_val2 = np.repeat(            np.pi / 3,            num_elements) + 2 * np.pi * np.arange(num_elements)
        angle_val2 = angle_val2.reshape(shape)
        # Adding the vector as an input        angle_tensor = self.declare_variable('tensor', val=angle_val2)
        # Rotation in the x-axis for tensor2        self.register_output('tensor_Rot_x',                             csdl.rotmat(angle_tensor, axis='x'))

sim = Simulator(ExampleDiffRadianTensorRotX())sim.run()
print('tensor', sim['tensor'].shape)print(sim['tensor'])print('tensor_Rot_x', sim['tensor_Rot_x'].shape)print(sim['tensor_Rot_x'])

[[[  1.04719755   7.33038286  13.61356817  19.89675347]  [ 26.17993878  32.46312409  38.74630939  45.0294947 ]  [ 51.31268001  57.59586532  63.87905062  70.16223593]]
 [[ 76.44542124  82.72860654  89.01179185  95.29497716]  [101.57816247 107.86134777 114.14453308 120.42771839]  [126.71090369 132.994089   139.27727431 145.56045962]]]tensor_Rot_x (2, 3, 4, 3, 3)[[[[[ 1.         0.         0.       ]    [ 0.         0.5       -0.8660254]    [ 0.         0.8660254  0.5      ]]
   [[ 1.         0.         0.       ]    [ 0.         0.5       -0.8660254]    [ 0.         0.8660254  0.5      ]]
   [[ 1.         0.         0.       ]    [ 0.         0.5       -0.8660254]    [ 0.         0.8660254  0.5      ]]
   [[ 1.         0.         0.       ]    [ 0.         0.5       -0.8660254]    [ 0.         0.8660254  0.5      ]]]

  [[[ 1.         0.         0.       ]    [ 0.         0.5       -0.8660254]    [ 0.         0.8660254  0.5      ]]
   [[ 1.         0.         0.       ]    [ 0.         0.5       -0.8660254]    [ 0.         0.8660254  0.5      ]]
   [[ 1.         0.         0.       ]    [ 0.         0.5       -0.8660254]    [ 0.         0.8660254  0.5      ]]
   [[ 1.         0.         0.       ]    [ 0.         0.5       -0.8660254]    [ 0.         0.8660254  0.5      ]]]

  [[[ 1.         0.         0.       ]    [ 0.         0.5       -0.8660254]    [ 0.         0.8660254  0.5      ]]
   [[ 1.         0.         0.       ]    [ 0.         0.5       -0.8660254]    [ 0.         0.8660254  0.5      ]]
   [[ 1.         0.         0.       ]    [ 0.         0.5       -0.8660254]    [ 0.         0.8660254  0.5      ]]
   [[ 1.         0.         0.       ]    [ 0.         0.5       -0.8660254]    [ 0.         0.8660254  0.5      ]]]]


 [[[[ 1.         0.         0.       ]    [ 0.         0.5       -0.8660254]    [ 0.         0.8660254  0.5      ]]
   [[ 1.         0.         0.       ]    [ 0.         0.5       -0.8660254]    [ 0.         0.8660254  0.5      ]]
   [[ 1.         0.         0.       ]    [ 0.         0.5       -0.8660254]    [ 0.         0.8660254  0.5      ]]
   [[ 1.         0.         0.       ]    [ 0.         0.5       -0.8660254]    [ 0.         0.8660254  0.5      ]]]

  [[[ 1.         0.         0.       ]    [ 0.         0.5       -0.8660254]    [ 0.         0.8660254  0.5      ]]
   [[ 1.         0.         0.       ]    [ 0.         0.5       -0.8660254]    [ 0.         0.8660254  0.5      ]]
   [[ 1.         0.         0.       ]    [ 0.         0.5       -0.8660254]    [ 0.         0.8660254  0.5      ]]
   [[ 1.         0.         0.       ]    [ 0.         0.5       -0.8660254]    [ 0.         0.8660254  0.5      ]]]

  [[[ 1.         0.         0.       ]    [ 0.         0.5       -0.8660254]    [ 0.         0.8660254  0.5      ]]
   [[ 1.         0.         0.       ]    [ 0.         0.5       -0.8660254]    [ 0.         0.8660254  0.5      ]]
   [[ 1.         0.         0.       ]    [ 0.         0.5       -0.8660254]    [ 0.         0.8660254  0.5      ]]
   [[ 1.         0.         0.       ]    [ 0.         0.5       -0.8660254]    [ 0.         0.8660254  0.5      ]]]]]