utils.UtilsRotation

Module Contents

Functions

spherical2cartesian(wrap_centre, site_pose_sph)	Transfer the site_pose in the Spherical coordinate into Catersian coordinate,
cartesian2spherical(wrap_centre, site_pose)	Transfer the site_pose in the Catersian coordinate into Spherical coordinate,
quaternionRotaionInv(unitQuat, site_pose)	Rotation the site_pose based on the unit quaternion rotation vector.
quaternionRotaion(unitQuat, site_pose)	Rotation the site_pose based on the unit quaternion rotation vector.
cartesian2cylindrical(wrap_centre, site_pose)	Transfer the site_pose in the Catersian coordinate into Cylindrical coordinate,
cylindarical2cartesian(wrap_centre, site_pose_cyl)	Transfer the site_pose in the Cylindarical coordinate into Catersian coordinate,
TaitBryanRotationMatrix(Sequence, angles)
euler_change_sequence(oldSequence, old_angles, newSequence)	From the old sequence euler rotation angles, get euler rotation angles with
euler_change_sequence_bodyRotationFirst(bodySequence, ...)	From the old sequence euler rotation angles, get euler rotation angles with

utils.UtilsRotation.spherical2cartesian(wrap_centre, site_pose_sph)

Transfer the site_pose in the Spherical coordinate into Catersian coordinate, relative to the wrap_centre (for sphere objects)

Parameters:

wrap_centre: the centre location of the wrapping object, in Catersian coordinate site_pose_sph: the position of the site point, in Spherical coordinate:

r: float, ra [0, inf] theta: float, vectical angle [0, pi] phi: float, horizental angle [-pi, pi]

utils.UtilsRotation.cartesian2spherical(wrap_centre, site_pose)

Transfer the site_pose in the Catersian coordinate into Spherical coordinate, relative to the wrap_centre (for sphere objects)

Parameters:

wrap_centre: the centre location of the wrapping object, in Catersian coordinate site_pose: the position of the site point, in Catersian coordinate

Outputs:

r: float, [0, inf], radius of the sphere theta: float, [0 pi], rotation angle with respect to the z axis phi: float, [-pi, pi], rotation angle in the x-y plane

utils.UtilsRotation.quaternionRotaionInv(unitQuat, site_pose)

Rotation the site_pose based on the unit quaternion rotation vector.

Parameters:

unitQuat: unit vector of the quaternion rotation angles site_pose: the catesian space location of the site point

utils.UtilsRotation.quaternionRotaion(unitQuat, site_pose)

Rotation the site_pose based on the unit quaternion rotation vector.

Parameters:

unitQuat: unit vector of the quaternion rotation angles site_pose: the catesian space location of the site point

utils.UtilsRotation.cartesian2cylindrical(wrap_centre, site_pose)

Transfer the site_pose in the Catersian coordinate into Cylindrical coordinate, relative to the wrap_centre (for sphere objects)

Parameters:

wrap_centre: the centre location of the wrapping object, in Catersian coordinate site_pose: the position of the site point, in Catersian coordinate

Outputs:

rho: float, [0, inf], radius of the cylinder phi: float, [-pi, pi], rotation angle z: float, [-inf, inf], distance to the origin O, along the longitudinal axis

utils.UtilsRotation.cylindarical2cartesian(wrap_centre, site_pose_cyl)

Transfer the site_pose in the Cylindarical coordinate into Catersian coordinate, relative to the wrap_centre (for sphere objects)

Parameters:

wrap_centre: the centre location of the wrapping object, in Catersian coordinate site_pose_sph: the position of the site point, in Cylindarical coordinate

Outputs:

x: float, [-inf, inf], x axis location of the local coordinate y: float, [-inf, inf], y axis location of the local coordinate z: float, [-inf, inf], z axis location of the local coordinate

utils.UtilsRotation.TaitBryanRotationMatrix(Sequence, angles)

utils.UtilsRotation.euler_change_sequence(oldSequence, old_angles, newSequence)

From the old sequence euler rotation angles, get euler rotation angles with the sequence of x-y-z.

Parameters:

oldSequence: the old order of sequence of the euler rotation old_angles: three euler angles in the old rotation sequence newSequence: the new order of sequence of the euler rotation

Outputs:

eulerNew: the new euler angles with the new rotation sequence.

utils.UtilsRotation.euler_change_sequence_bodyRotationFirst(bodySequence, body_angle, oldSequence, old_angles, newSequence)

From the old sequence euler rotation angles, get euler rotation angles with the sequence of x-y-z.

Parameters:

oldSequence: the old order of sequence of the euler rotation old_angles: three euler angles in the old rotation sequence newSequence: the new order of sequence of the euler rotation

Outputs:

eulerNew: the new euler angles with the new rotation sequence.