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""" 

 

""" 

import numpy as np 

# For testing whether a number is close to zero or not we use epsilon: 

_EPS = np.finfo(float).eps * 4.0 

 

# axis sequences for Euler angles 

_NEXT_AXIS = [1, 2, 0, 1] 

 

# map axes strings to/from tuples of inner axis, parity, repetition, frame 

_AXES2TUPLE = { 

'xyz': (0, 0, 1, 2), 'xyx': (0, 0, 1, 0), 'xzy': (0, 0, 2, 1), 

'xzx': (0, 0, 2, 0), 'yzx': (0, 1, 2, 0), 'yzy': (0, 1, 2, 1), 

'yxz': (0, 1, 0, 2), 'yxy': (0, 1, 0, 1), 'zxy': (0, 2, 0, 1), 

'zxz': (0, 2, 0, 2), 'zyx': (0, 2, 1, 0), 'zyz': (0, 2, 1, 2)}