jaclearn.math.rotation

Functions

as_rotation(r)	Convert a 3x3 matrix or a quaternion into a standard 3x3 matrix representation.
axisangle2quat(axis, angle)
euler2mat(euler)	Convert Euler Angles to Rotation Matrix.
euler2point_euler(euler)
euler2quat(euler)	Convert Euler Angles to Quaternions.
get_parallel_rotations()
mat2euler(mat)	Convert Rotation Matrix to Euler Angles.
mat2quat(mat)	Convert Rotation Matrix to Quaternion.
normalize_angles(angles)	Puts angles in [-pi, pi] range.
point_euler2euler(euler)
point_quat2quat(quat)
quat2axisangle(quat)
quat2euler(quat)	Convert Quaternion to Euler Angles.
quat2mat(quat)	Convert Quaternion to Euler Angles.
quat2point_quat(quat)
quat_conjugate(q)
quat_identity()
quat_mul(q0, q1)
quat_rot_vec(q, v0)
round_to_straight_angles(angles)	Returns closest angle modulo 90 degrees
subtract_euler(e1, e2)

Functions

as_rotation(r)

Convert a 3x3 matrix or a quaternion into a standard 3x3 matrix representation.

axisangle2quat(axis, angle)

euler2mat(euler)

Convert Euler Angles to Rotation Matrix. See rotation.py for notes

euler2point_euler(euler)

euler2quat(euler)

Convert Euler Angles to Quaternions. See rotation.py for notes

get_parallel_rotations()

mat2euler(mat)

Convert Rotation Matrix to Euler Angles. See rotation.py for notes

mat2quat(mat)

Convert Rotation Matrix to Quaternion. See rotation.py for notes

normalize_angles(angles)

Puts angles in [-pi, pi] range.

point_euler2euler(euler)

point_quat2quat(quat)

quat2axisangle(quat)

quat2euler(quat)

Convert Quaternion to Euler Angles. See rotation.py for notes

quat2mat(quat)

Convert Quaternion to Euler Angles. See rotation.py for notes

quat2point_quat(quat)

quat_conjugate(q)

quat_identity()

quat_mul(q0, q1)

quat_rot_vec(q, v0)

round_to_straight_angles(angles)

Returns closest angle modulo 90 degrees

subtract_euler(e1, e2)