added x as commutator shorthand. other misc

clifford/__init__.py

@@ -545,8 +545,13 @@ def randomRotor(self):
         return R
 
     @property
-    def basis_vectors(self, **kw):
-        return basis_vectors(self, **kw)
+    def basis_vectors(self):
+        return basis_vectors(self)
+
+    @property
+    def basis_vectors_lst(self):
+        d = self.basis_vectors
+        return [d[k] for k in sorted(d.keys())]
 
     @property
     def blades(self):
@@ -1436,7 +1441,8 @@ def commutator(self, other):
         """
 
         return ((self * other) - (other * self)) / 2
-
+
+    x = commutator
     def anticommutator(self, other):
         """Returns the anti-commutator product of two multivectors.
 

clifford/tools.py

@@ -90,7 +90,19 @@ def mat2Frame(A, layout=None, is_complex=None):
 
 
     return a, layout
-
+
+def frame2Mat(B, A=None, is_complex=None):
+    if is_complex is not None:
+        raise NotImplementedError()
+    if A is None:
+        # assume we have orthonormal initial frame
+        A=B[0].layout.basis_vectors_lst
+
+
+    M = [float(b|a) for b in B for a in A] # you need float() due to bug in clifford
+    M = array(M).reshape(len(B),len(B))
+
+
 def orthoFrames2Verser_dist(A,B, eps =None):
     '''
     Determines verser for two frames related by an orthogonal transform
@@ -148,7 +160,7 @@ def orthoFrames2Verser_dist(A,B, eps =None):
 
     return R ,r_list
 
-def orthoFrames2Verser(A,B, eps =None, delta=1e-3):
+def orthoFrames2Verser(B,A=None, eps =None, delta=1e-3):
     '''
     Determines verser for two frames related by an orthogonal transform
     
@@ -163,6 +175,10 @@ def orthoFrames2Verser(A,B, eps =None, delta=1e-3):
     '''
 
     ## Checking and Setup
+    if A is None:
+        # assume we have orthonormal initial frame
+        bv = B[0].layout.basis_vectors
+        A=[bv[k] for k in sorted(bv.keys())]
 
     # make copy of original frames, so we can rotate A
     A = Frame(A[:] )
@@ -257,7 +273,7 @@ def orthoMat2Verser(A, eps=None,layout=None,is_complex=None):
     #    warn('A doesnt appear to be a rotation. ')
 
     A,layout = mat2Frame(eye(N),layout=layout,is_complex=False)
-    return orthoFrames2Verser(A,B, eps = eps)
+    return orthoFrames2Verser(A=A,B=B, eps = eps)
 
 
 

docs/EulerAngles.ipynb

@@ -405,8 +405,9 @@
   }
  ],
  "metadata": {
+  "anaconda-cloud": {},
   "kernelspec": {
-   "display_name": "IPython (Python 2)",
+   "display_name": "Python [default]",
    "language": "python",
    "name": "python2"
   },