rotation — Python Rotations¶
The ale.rotation module
New in version 0.1.0:
- class ale.rotation.ConstantRotation(quat, source, dest)¶
A constant rotation between two 3D reference frames.
Attributes¶
- sourceint
The NAIF ID code for the source frame
- destint
The NAIF ID code for the destination frame
- from_matrix(source, dest)¶
Create a constant rotation from a directed cosine matrix
Parameters¶
- mat2darray
The rotation matrix
- sourceint
The NAIF ID code for the source frame
- destint
The NAIF ID code for the destination frame
See Also¶
scipy.spatial.transform.Rotation.from_dcm
- inverse()¶
Get the inverse rotation, that is the rotation from the destination reference frame to the source reference frame.
- property quat¶
The quaternion that rotates from the source reference frame to the destination reference frame. The quaternion is in scalar last format (x, y, z, w).
- rotation_matrix()¶
The rotation matrix representation of the constant rotation
- class ale.rotation.TimeDependentRotation(quats, times, source, dest, av=None)¶
A time dependent rotation between two 3D reference frames.
Attributes¶
- sourceint
The NAIF ID code for the source frame
- destint
The NAIF ID code for the destination frame
- apply_at(vec, et)¶
Apply the rotation to a position at a specific time
- from_euler(euler, times, source, dest, degrees=False)¶
Create a time dependent rotation from a set of Euler angles.
Parameters¶
- sequencestring
The axis sequence that the Euler angles are applied in. I.E. ‘XYZ’ or ‘ZXZ’.
- euler2darray
2D numpy array of the euler angle rotations in radians.
- timesarray
The time for each rotation in euler. This array must be sorted in ascending order.
- sourceint
The NAIF ID code for the source frame
- destint
The NAIF ID code for the destination frame
- degreesbool
If the angles are in degrees. If false, then degrees are assumed to be in radians. Defaults to False.
See Also¶
scipy.spatial.transform.Rotation.from_euler
- inverse()¶
Get the inverse rotation, that is the rotation from the destination reference frame to the source reference frame.
- property quats¶
The quaternions that rotates from the source reference frame to the destination reference frame. The quaternions are in scalar last format (x, y, z, w).
- reinterpolate(times)¶
Reinterpolate the rotation at a given set of times.
Parameters¶
- times1darray or float
The new times to interpolate at.
Returns¶
- : TimeDependentRotation
The new rotation at the input times
- rotate_velocity_at(pos, vel, et)¶
Apply the rotation to a velocity at a specific time
See: https://naif.jpl.nasa.gov/pub/naif/toolkit_docs/C/req/rotation.html#State%20transformations For an explanation of why a separate method is required to rotate velocities.