cgse-coordinates 0.17.2__py3-none-any.whl → 0.17.4__py3-none-any.whl

egse/coordinates/rotationMatrix.py

@@ -1,82 +0,0 @@
-"""
-The RotationMatrix provides a number of convenience methods to define and apply rotations.
-
-@author: pierre
-"""
-
-import transforms3d as t3
-import numpy as np
-
-
-class RotationMatrix:
-    """
-    RotationMatrix(angle1, angle2, angle3, rot_config="sxyz", active=True)
-
-    The ``angle`` parameters provide the amplitude of rotation around an axis
-    according to the order of rotations corresponding to the ``rot_config`` parameter.
-
-    The ``rot_config`` parameter is a string that consists of four letter
-    indicating the rotation system and the order of applying the rotations. The default
-    for this parameter is ``"rxyz"`` where the first character can be 'r' or 's' and
-    the next three characters define the axes of rotation in the order specified, here 'xyz'.
-
-    * 'r' stands for rotating system (intrinsic rotations)
-    * 's' stands for static system (extrinsic rotations)
-    * "rxyz" imposes angle1 describes the rotation around X
-    * even if two angles = 0, the match between angle orders and rot_config is still critical
-
-    :param str rot_config: otation system to be used, 4 characters. Default = "sxyz"
-
-    :param float angle1: amplitude of rotations around the first axis
-
-    :param float angle2: amplitude of rotations around the second axis
-
-    :param float angle3: amplitude of rotations around the third axis
-
-    :param bool active: when True the object rotates **in** a fixed coord system,
-        when False the coord system rotates **around** a fixed object
-        The default for the transform3d.euleur package is to represent movements
-        of the coordinate system itself --> **around** the object <==> passive
-    """
-
-    _ROT_CONFIG_DEFAULT = "sxyz"
-
-    def __init__(self, angle1, angle2, angle3, rot_config=_ROT_CONFIG_DEFAULT, active=True):
-        R = t3.euler.euler2mat(angle1, angle2, angle3, rot_config)
-        if active:
-            self.R = R
-        else:
-            self.R = R.T
-        rot_config_array = np.array(list(rot_config[1:]))
-        angles_array = np.array([angle1, angle2, angle3])
-        self.angles_hash = {}
-        for axis in ["x", "y", "z"]:
-            self.angles_hash[axis] = angles_array[np.where(rot_config_array == axis)[0][0]]
-        self.active = active
-
-    def getRotationMatrix(self):
-        """Return the Rotation Matrix"""
-        return self.R
-
-    def trace(self):
-        return np.sum([self.R[i, i] for i in range(3)])
-
-    def getAngle(self, axis):
-        """
-        Returns the angle
-
-        :param str axis: 'x', 'y', 'z'
-
-        :return: the angle
-        """
-        return self.angles_hash[axis]
-
-    def apply(self, vectors):
-        """
-        if self = active, the output = the coords of these vectors after rotation
-
-        if self = passive, the ouput = the coords of these vectors after transformation to the rotated coordinate system
-
-        :param vectors: an array of shape [3,N] gathering a set of vectors along its columns
-        """
-        return np.dot(self.R, vectors)