pele.utils._cpp_utils

Module source

# distutils: language = C++ # cython: language_level=3str

This module provides access to the c++ routines that deal with rotations

pele.utils._cpp_utils.rotate_aa()

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cpdef rotate_aa(p1, p2):

change a given angle axis rotation p2 by the rotation p1

pele.utils._cpp_utils.aa2q()

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cpdef aa2q(aa):

convert angle axis to quaternion

Parameters:

aa: angle axis vector of lenth 3

Returns:

Q: quaternion of length 4

pele.utils._cpp_utils.aa2mx()

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cpdef aa2mx(aa):

convert an angle axis rotation to a rotation matrix

pele.utils._cpp_utils.rot_mat_derivatives()

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cpdef rot_mat_derivatives(p, with_grad=True):

compute the derivatives of a rotation matrix

Parameters:

pndarray

angle axis vector

Returns:

Rthe rotation matrix corresponding to p

dR1, dR2, dR3derivatives of R in the x, y, z directions.