giant.rotations

Modules

core	This module contains fundamental mathematical operations and utilities for rotation calculations.
frames
rotation

Classes

Rotation

A class to represent and manipulate rotations in GIANT.

Functions

quaternion_to_rotvec	This function converts a rotation quaternion into a rotation vector of the form discussed in Rotation Representations.
quaternion_to_rotmat	This function converts an attitude quaternion into its equivalent rotation matrix of the form discussed in Rotation Representations.
quaternion_to_euler	This function converts a rotation quaternion to 3 euler angles to be applied to the axes specified in order.
rotvec_to_rotmat	This function converts a rotation vector to a rotation matrix according to the form specified in Rotation Representations.
rotvec_to_quaternion	This function converts a rotation vector given as a 3 element Sequence into a rotation quaternion of the form discussed in Rotation Representations.
rotvec_to_euler	This function converts a rotation vector into euler angles in the specified order.
rotmat_to_quaternion	This function converts a rotation matrix into a rotation quaternion of the form discussed in Rotation Representations.
rotmat_to_euler	This function converts a rotation matrix to 3 euler angles to be applied to the axes specified in order.
rotmat_to_rotvec	Converts a rotation matrix to a rotation vector.
euler_to_rotmat	This function converts a sequence of 3 euler angles into a rotation matrix.
euler_to_rotvec	This function converts Euler angles into a a rotation vector.
euler_to_quaternion	This function converts Euler angles into a a rotation quaternion.
rot_x	This function performs a right handed rotation about the x axis by angle theta.
rot_y	This function performs a right handed rotation about the y axis by angle theta.
rot_z	This function performs a right handed rotation about the z axis by angle theta.
skew	This function returns a numpy array with the skew symmetric cross product matrix for vector.
quaternion_normalize	Normalizes the quaternion(s) such that the scalar term is positive and the length is 1
quaternion_inverse	This function provides the inverse of a rotation quaternion of the form discussed in Rotation Representations.
quaternion_multiplication	This function performs the hamiltonian quaternion multiplication operation.
nlerp	This function performs normalized linear interpolation of rotation quaternions.
slerp	This function performs spherical linear interpolation of rotation quaternions.
two_vector_frame	Compute a 2-vector frame given primary and secondary vectors and their corresponding axes.
dynamic_two_vector_frame	Create a dynamic (time dependent) 2-vector frame function.