giant.rotations.core

This module contains fundamental mathematical operations and utilities for rotation calculations. It has no dependencies on other rotation modules to avoid circular imports. All functions here are pure mathematical operations that can be used as building blocks for higher-level rotation representations and conversions.

Modules

conversions	Core conversion routines for rotation representations
elementals
quaternion_math

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.