locan.utils.rotation.Rotation2D

class locan.utils.rotation.Rotation2D(angle_in_radians, rotation_matrix)

Bases: object

Rotation in 2 dimensions.

This class provides an interface to initialize from and represent rotations with rotation matrices, angles, and unit vectors.

To create Rotation objects use from_… methods. Rotation(…) is not supposed to be instantiated directly.

This function follows the interface of class:scipy.spatial.transform.Rotation that can be applied in 3D.

See also

class:scipy.spatial.transform.Rotation class:Rotation3D

Methods

__init__(angle_in_radians, rotation_matrix)
align_vectors(vector[, other_vector])	Estimate a rotation to optimally align other_vector with vector.
apply(vectors)	Apply this rotation to 2-dimensional vectors.
as_angle([degrees])	Return the rotation angle.
as_matrix()	Return the rotation matrix.
from_angle(angle[, degrees])	Initialize from rotation angle.
from_matrix(matrix)	Initialize from rotation matrix.
inv()	Provide an instance with the inverted rotation (with a rotation matrix that is equal to the transposed matrix).

Attributes

matrix

classmethod align_vectors(vector, other_vector=(1, 0))

Estimate a rotation to optimally align other_vector with vector.

Parameters:

• vector (Union[_Buffer, _SupportsArray[dtype[Any]], _NestedSequence[_SupportsArray[dtype[Any]]], bool, int, float, complex, str, bytes, _NestedSequence[bool | int | float | complex | str | bytes]]) – 2-dimensional vector

• other_vector (Union[_Buffer, _SupportsArray[dtype[Any]], _NestedSequence[_SupportsArray[dtype[Any]]], bool, int, float, complex, str, bytes, _NestedSequence[bool | int | float | complex | str | bytes]]) – 2-dimensional vector

Return type:

Rotation2D

apply(vectors)

Apply this rotation to 2-dimensional vectors.

Parameters:

vectors (Union[_Buffer, _SupportsArray[dtype[Any]], _NestedSequence[_SupportsArray[dtype[Any]]], bool, int, float, complex, str, bytes, _NestedSequence[bool | int | float | complex | str | bytes]]) – One or more 2-dimensional vectors on which to apply the rotation.

Return type:

npt.NDArray[np.float64]

as_angle(degrees=False)

Return the rotation angle.

Parameters:

degrees (bool) – If true the angle is given in degrees, else in radians.

Return type:

float

as_matrix()

Return the rotation matrix.

Return type:

npt.NDArray[np.float64]

classmethod from_angle(angle, degrees=False)

Initialize from rotation angle.

Parameters:

• angle (float) – Angle between x-axis and counter-clockwise rotated axis.

• degrees (bool) – If true, angle is in degrees else in radians.

Return type:

Rotation2D

classmethod from_matrix(matrix)

Initialize from rotation matrix.

Parameters:

matrix (Union[_Buffer, _SupportsArray[dtype[Any]], _NestedSequence[_SupportsArray[dtype[Any]]], bool, int, float, complex, str, bytes, _NestedSequence[bool | int | float | complex | str | bytes]]) – Valid 2-dimensional rotation matrix

Return type:

Rotation2D

inv()

Provide an instance with the inverted rotation (with a rotation matrix that is equal to the transposed matrix).

Return type:

Rotation2D

property matrix: ndarray[tuple[int, ...], dtype[float64]]