jaclearn.math package

Submodules

jaclearn.math.rotation module

jaclearn.math.rotation.as_rotation(r)

Convert a 3x3 matrix or a quaternion into a standard 3x3 matrix representation.

jaclearn.math.rotation.axisangle2quat(axis, angle)

jaclearn.math.rotation.euler2mat(euler)

Convert Euler Angles to Rotation Matrix. See rotation.py for notes

jaclearn.math.rotation.euler2point_euler(euler)

jaclearn.math.rotation.euler2quat(euler)

Convert Euler Angles to Quaternions. See rotation.py for notes

jaclearn.math.rotation.get_parallel_rotations()

jaclearn.math.rotation.mat2euler(mat)

Convert Rotation Matrix to Euler Angles. See rotation.py for notes

jaclearn.math.rotation.mat2quat(mat)

Convert Rotation Matrix to Quaternion. See rotation.py for notes

jaclearn.math.rotation.normalize_angles(angles)

Puts angles in [-pi, pi] range.

jaclearn.math.rotation.point_euler2euler(euler)

jaclearn.math.rotation.point_quat2quat(quat)

jaclearn.math.rotation.quat2axisangle(quat)

jaclearn.math.rotation.quat2euler(quat)

Convert Quaternion to Euler Angles. See rotation.py for notes

jaclearn.math.rotation.quat2mat(quat)

Convert Quaternion to Euler Angles. See rotation.py for notes

jaclearn.math.rotation.quat2point_quat(quat)

jaclearn.math.rotation.quat_conjugate(q)

jaclearn.math.rotation.quat_identity()

jaclearn.math.rotation.quat_mul(q0, q1)

jaclearn.math.rotation.quat_rot_vec(q, v0)

jaclearn.math.rotation.round_to_straight_angles(angles)

Returns closest angle modulo 90 degrees

jaclearn.math.rotation.subtract_euler(e1, e2)