From bd1831039cc194de1dc5149d0cf02c86a185f8e7 Mon Sep 17 00:00:00 2001
From: "Olivier J.N. Bertrand" <olivier.bertrand@uni-bielefeld.de>
Date: Tue, 18 Sep 2018 06:10:41 +0200
Subject: [PATCH] Rename convention
---
navipy/maths/constants.py | 8 ++--
navipy/maths/euler.py | 34 +++++++-------
navipy/maths/homogeneous_transformations.py | 4 +-
navipy/maths/quaternion.py | 4 +-
navipy/maths/test_euler.py | 46 +++++++++----------
.../maths/test_homogeneous_transformations.py | 6 +--
navipy/maths/test_quaternion.py | 2 +-
navipy/processing/test_OpticFlow.py | 4 +-
navipy/trajectories/test_markers.py | 4 +-
navipy/trajectories/test_trajectory.py | 6 +--
navipy/trajectories/transformations.py | 12 ++---
11 files changed, 65 insertions(+), 65 deletions(-)
diff --git a/navipy/maths/constants.py b/navipy/maths/constants.py
index 6259986..57d5bad 100644
--- a/navipy/maths/constants.py
+++ b/navipy/maths/constants.py
@@ -10,7 +10,7 @@ _NEXT_AXIS = [1, 2, 0, 1]
# map axes strings to/from tuples of inner axis, parity, repetition, frame
_AXES2TUPLE = {
- 'sxyz': (0, 0, 1, 2), 'sxyx': (0, 0, 1, 0), 'sxzy': (0, 0, 2, 1),
- 'sxzx': (0, 0, 2, 0), 'syzx': (0, 1, 2, 0), 'syzy': (0, 1, 2, 1),
- 'syxz': (0, 1, 0, 2), 'syxy': (0, 1, 0, 1), 'szxy': (0, 2, 0, 1),
- 'szxz': (0, 2, 0, 2), 'szyx': (0, 2, 1, 0), 'szyz': (0, 2, 1, 2)}
+ '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)}
diff --git a/navipy/maths/euler.py b/navipy/maths/euler.py
index 01e5a22..28adefa 100644
--- a/navipy/maths/euler.py
+++ b/navipy/maths/euler.py
@@ -65,7 +65,7 @@ def R3(a):
return R3
-def matrix(ai, aj, ak, axes='sxyz'):
+def matrix(ai, aj, ak, axes='xyz'):
""" rotation matrix around the three axis with the
order given by the axes parameter
@@ -92,7 +92,7 @@ def matrix(ai, aj, ak, axes='sxyz'):
return Rijk
-def from_matrix(matrix, axes='sxyz'):
+def from_matrix(matrix, axes='xyz'):
"""Return Euler angles from rotation matrix for specified axis sequence.
axes : One of 24 axis sequences as string or encoded tuple
@@ -121,51 +121,51 @@ def from_matrix(matrix, axes='sxyz'):
# new = list(axes)
# new[0] = 's'
# axes = ''.join(new)
- if axes == 'sxyx':
+ if axes == 'xyx':
u = [np.arctan2(matrix[1, 0], matrix[2, 0]),
np.arccos(matrix[0, 0]),
np.arctan2(matrix[0, 1], -matrix[0, 2])]
- elif axes == 'sxyz':
+ elif axes == 'xyz':
u = [np.arctan2(matrix[1, 2], matrix[2, 2]),
-np.arcsin(matrix[0, 2]),
np.arctan2(matrix[0, 1], matrix[0, 0])]
- elif axes == 'sxzx':
+ elif axes == 'xzx':
u = [np.arctan2(matrix[2, 0], -matrix[1, 0]),
np.arccos(matrix[0, 0]),
np.arctan2(matrix[0, 2], matrix[0, 1])]
- elif axes == 'sxzy':
+ elif axes == 'xzy':
u = [np.arctan2(-matrix[2, 1], matrix[1, 1]),
np.arcsin(matrix[0, 1]),
np.arctan2(-matrix[0, 2], matrix[0, 0])]
- elif axes == 'syxy':
+ elif axes == 'yxy':
u = [np.arctan2(matrix[0, 1], -matrix[2, 1]),
np.arccos(matrix[1, 1]),
np.arctan2(matrix[1, 0], matrix[1, 2])]
- elif axes == 'syxz':
+ elif axes == 'yxz':
u = [np.arctan2(-matrix[0, 2], matrix[2, 2]),
np.arcsin(matrix[1, 2]),
np.arctan2(-matrix[1, 0], matrix[1, 1])]
- elif axes == 'syzx':
+ elif axes == 'yzx':
u = [np.arctan2(matrix[2, 0], matrix[0, 0]),
-np.arcsin(matrix[1, 0]),
np.arctan2(matrix[1, 2], matrix[1, 1])]
- elif axes == 'syzy':
+ elif axes == 'yzy':
u = [np.arctan2(matrix[2, 1], matrix[0, 1]),
np.arccos(matrix[1, 1]),
np.arctan2(matrix[1, 2], -matrix[1, 0])]
- elif axes == 'szxy':
+ elif axes == 'zxy':
u = [np.arctan2(matrix[0, 1], matrix[1, 1]),
-np.arcsin(matrix[2, 1]),
np.arctan2(matrix[2, 0], matrix[2, 2])]
- elif axes == 'szxz':
+ elif axes == 'zxz':
u = [np.arctan2(matrix[0, 2], matrix[1, 2]),
np.arccos(matrix[2, 2]),
np.arctan2(matrix[2, 0], -matrix[2, 1])]
- elif axes == 'szyx':
+ elif axes == 'zyx':
u = [np.arctan2(-matrix[1, 0], matrix[0, 0]),
np.arcsin(matrix[2, 0]),
np.arctan2(-matrix[2, 1], matrix[2, 2])]
- elif axes == 'szyz':
+ elif axes == 'zyz':
u = [np.arctan2(matrix[1, 2], -matrix[0, 2]),
np.arccos(matrix[2, 2]),
np.arctan2(matrix[2, 1], matrix[2, 0])]
@@ -176,7 +176,7 @@ def from_matrix(matrix, axes='sxyz'):
return u
-def from_quaternion(quaternion, axes='sxyz'):
+def from_quaternion(quaternion, axes='xyz'):
"""Return Euler angles from quaternion for specified axis sequence.
"""
if not isinstance(quaternion, np.ndarray) and\
@@ -189,7 +189,7 @@ def from_quaternion(quaternion, axes='sxyz'):
return from_matrix(quat.matrix(quaternion)[:3, :3], axes)
-def angle_rate_matrix(ai, aj, ak, axes='sxyz'):
+def angle_rate_matrix(ai, aj, ak, axes='xyz'):
"""
Return the Euler Angle Rates Matrix
@@ -248,7 +248,7 @@ def angle_rate_matrix(ai, aj, ak, axes='sxyz'):
return rotM
-def angular_velocity(ai, aj, ak, dai, daj, dak, axes='sxyz'):
+def angular_velocity(ai, aj, ak, dai, daj, dak, axes='xyz'):
"""
Return the angular velocity
diff --git a/navipy/maths/homogeneous_transformations.py b/navipy/maths/homogeneous_transformations.py
index 2ea6ee2..e815c53 100644
--- a/navipy/maths/homogeneous_transformations.py
+++ b/navipy/maths/homogeneous_transformations.py
@@ -313,7 +313,7 @@ def shear_from_matrix(matrix):
return angle, direction, point, normal
-def decompose_matrix(matrix, axes='sxyz'):
+def decompose_matrix(matrix, axes='xyz'):
"""Return sequence oftransformations from transformation matrix.
matrix : array_like
@@ -376,7 +376,7 @@ def decompose_matrix(matrix, axes='sxyz'):
def compose_matrix(scale=None, shear=None, angles=None, translate=None,
- perspective=None, axes='sxyz'):
+ perspective=None, axes='xyz'):
"""Return transformation matrix from sequence oftransformations.
This is the inverse of the decompose_matrix function.
diff --git a/navipy/maths/quaternion.py b/navipy/maths/quaternion.py
index f116a27..ef0d018 100644
--- a/navipy/maths/quaternion.py
+++ b/navipy/maths/quaternion.py
@@ -27,7 +27,7 @@ def qat(a, n):
return tmp
-def from_euler(ai, aj, ak, axes='sxyz'):
+def from_euler(ai, aj, ak, axes='xyz'):
"""Return quaternion from Euler angles and axis sequence.
ai, aj, ak : Euler's roll, pitch and yaw angles
axes : One of 24 axis sequences as string or encoded tuple
@@ -67,7 +67,7 @@ def about_axis(angle, axis):
return q
-def matrix(quaternion, axes='sxyz'):
+def matrix(quaternion, axes='xyz'):
"""Return homogeneous rotation matrix from quaternion.
:param quaternion : vector with at least 3 entrences (unit quaternion)
:param axes: string that encodes the order of the axes and
diff --git a/navipy/maths/test_euler.py b/navipy/maths/test_euler.py
index 14b892e..c1ea966 100644
--- a/navipy/maths/test_euler.py
+++ b/navipy/maths/test_euler.py
@@ -50,7 +50,7 @@ class TestEuler(unittest.TestCase):
"""
Test orientation from one convention to another
"""
- refkey = 'sxyz'
+ refkey = 'xyz'
for key in list(_AXES2TUPLE.keys()):
rotation_0 = euler.matrix(1, 2, 3, refkey)[:3, :3]
[ai, aj, ak] = euler.from_matrix(rotation_0, key)
@@ -95,7 +95,7 @@ class TestEuler(unittest.TestCase):
of wrong type, value are passed to the
euler.angle_rate_matrix function
"""
- for a, b, c, d in [(None, 2, 6, 'rxyz'), (5.0, 4.0, None, 'sxyx')]:
+ for a, b, c, d in [(None, 2, 6, 'rxyz'), (5.0, 4.0, None, 'xyx')]:
with self.assertRaises(TypeError):
euler.angle_rate_matrix(a, b, c, d)
@@ -112,12 +112,12 @@ class TestEuler(unittest.TestCase):
of wrong type, value are passed to the
euler.angle_rate_matrix function
"""
- for a, b, c, d, e, f, g in [(None, 2, 6, 8, 7, 8, 'sxyz'),
- (9.0, 'er', 2, 3, 3, 5, 'sxyz'),
- (5.0, 4.0, None, 8.0, 8.0, 4.0, 'sxyz'),
- (np.nan, 8.0, 7.0, '0', 6.0, 9.0, 'sxyz'),
- (4.0, 2.0, 1.0, 3.0, 'w', 2.0, 'sxyz'),
- (1.0, 2.0, 3.0, 4.0, None, 4, 'sxyz')]:
+ for a, b, c, d, e, f, g in [(None, 2, 6, 8, 7, 8, 'xyz'),
+ (9.0, 'er', 2, 3, 3, 5, 'xyz'),
+ (5.0, 4.0, None, 8.0, 8.0, 4.0, 'xyz'),
+ (np.nan, 8.0, 7.0, '0', 6.0, 9.0, 'xyz'),
+ (4.0, 2.0, 1.0, 3.0, 'w', 2.0, 'xyz'),
+ (1.0, 2.0, 3.0, 4.0, None, 4, 'xyz')]:
with self.assertRaises(TypeError):
euler.angular_velocity(a, b, c, d, e, f, g)
@@ -134,7 +134,7 @@ class TestEuler(unittest.TestCase):
# dai = 0
# daj = 0
# dak = 1
- E = angle_rate_matrix(ai, aj, ak, 'szxz')
+ E = angle_rate_matrix(ai, aj, ak, 'zxz')
testE = [[np.sin(aj) * np.sin(ak), np.cos(ak), 0],
[-np.sin(aj) * np.cos(ak), np.sin(ak), 0],
[np.cos(aj), 0, 1]]
@@ -155,7 +155,7 @@ class TestEuler(unittest.TestCase):
E_p = [[0, np.cos(ai), np.sin(aj) * np.sin(ai)],
[0, -np.sin(ai), np.sin(aj) * np.cos(ai)],
[1, 0, np.cos(aj)]]
- E_fkt = angle_rate_matrix(ai, aj, ak, 'szxz')
+ E_fkt = angle_rate_matrix(ai, aj, ak, 'zxz')
self.assertTrue(np.allclose(E, E_fkt))
w = np.dot(E, [dai, daj, dak])
w_p = np.dot(E_p, [dai, daj, dak])
@@ -169,7 +169,7 @@ class TestEuler(unittest.TestCase):
-s(aj) * c(ak),
c(aj)]]
Rijk_test = np.dot(R3(ai), np.dot(R1(aj), R3(ak)))
- Rijk_fkt = matrix(ai, aj, ak, 'szxz')[:3, :3]
+ Rijk_fkt = matrix(ai, aj, ak, 'zxz')[:3, :3]
self.assertTrue(np.allclose(Rijk, Rijk_fkt))
self.assertTrue(np.allclose(Rijk, Rijk_test))
new_w_p = np.dot(Rijk, w)
@@ -192,7 +192,7 @@ class TestEuler(unittest.TestCase):
p1 = np.dot(MR3, np.dot(MR2, e1))
p2 = np.dot(MR3, e2)
rotM = np.column_stack([p1, p2, e3])
- M = angle_rate_matrix(ea, eb, ec, 'sxyz')
+ M = angle_rate_matrix(ea, eb, ec, 'xyz')
self.assertTrue(np.all(rotM == M))
# ryzx
@@ -204,7 +204,7 @@ class TestEuler(unittest.TestCase):
p1 = np.dot(MRk, np.dot(MRj, e2))
p2 = np.dot(MRk, e3)
rotM = np.column_stack([p1, p2, e1])
- M = angle_rate_matrix(ea, eb, ec, 'syzx')
+ M = angle_rate_matrix(ea, eb, ec, 'yzx')
self.assertTrue(np.allclose(rotM, M))
# ryxz
@@ -216,7 +216,7 @@ class TestEuler(unittest.TestCase):
p1 = np.dot(MRk, np.dot(MRj, e2))
p2 = np.dot(MRk, e1)
rotM = np.column_stack([p1, p2, e3])
- M = angle_rate_matrix(ea, eb, ec, 'syxz')
+ M = angle_rate_matrix(ea, eb, ec, 'yxz')
self.assertTrue(np.allclose(rotM, M))
# rxzy
@@ -228,7 +228,7 @@ class TestEuler(unittest.TestCase):
p1 = np.dot(MRk, np.dot(MRj, e1))
p2 = np.dot(MRk, e3)
rotM = np.column_stack([p1, p2, e2])
- M = angle_rate_matrix(ea, eb, ec, 'sxzy')
+ M = angle_rate_matrix(ea, eb, ec, 'xzy')
self.assertTrue(np.allclose(rotM, M))
# rzxy
@@ -240,7 +240,7 @@ class TestEuler(unittest.TestCase):
p1 = np.dot(MRk, np.dot(MRj, e3))
p2 = np.dot(MRk, e1)
rotM = np.column_stack([p1, p2, e2])
- M = angle_rate_matrix(ea, eb, ec, 'szxy')
+ M = angle_rate_matrix(ea, eb, ec, 'zxy')
self.assertTrue(np.allclose(rotM, M))
# rxzx
@@ -252,7 +252,7 @@ class TestEuler(unittest.TestCase):
p1 = np.dot(MRk, np.dot(MRj, e1))
p2 = np.dot(MRk, e3)
rotM = np.column_stack([p1, p2, e1])
- M = angle_rate_matrix(ea, eb, ec, 'sxzx')
+ M = angle_rate_matrix(ea, eb, ec, 'xzx')
self.assertTrue(np.allclose(rotM, M))
# rzxz
@@ -273,8 +273,8 @@ class TestEuler(unittest.TestCase):
# -s(ea)*s(ec)+c(ea)*c(eb)*c(ec),
# c(ea)*s(eb)],
# [s(eb)*s(ec), -s(eb)*c(ec), c(eb)]]
- # mfunc = angle_rate_matrix(ea, eb, ec, 'szxz')
- M = angle_rate_matrix(ea, eb, ec, 'szxz')
+ # mfunc = angle_rate_matrix(ea, eb, ec, 'zxz')
+ M = angle_rate_matrix(ea, eb, ec, 'zxz')
self.assertTrue(np.allclose(rotM, M))
# rxyx
@@ -286,7 +286,7 @@ class TestEuler(unittest.TestCase):
p1 = np.dot(MRk, np.dot(MRj, e1))
p2 = np.dot(MRk, e2)
rotM = np.column_stack([p1, p2, e1])
- M = angle_rate_matrix(ea, eb, ec, 'sxyx')
+ M = angle_rate_matrix(ea, eb, ec, 'xyx')
self.assertTrue(np.allclose(rotM, M))
# ryxy
@@ -298,7 +298,7 @@ class TestEuler(unittest.TestCase):
p1 = np.dot(MRk, np.dot(MRj, e2))
p2 = np.dot(MRk, e1)
rotM = np.column_stack([p1, p2, e2])
- M = angle_rate_matrix(ea, eb, ec, 'syxy')
+ M = angle_rate_matrix(ea, eb, ec, 'yxy')
self.assertTrue(np.allclose(rotM, M))
# ryzy
@@ -310,7 +310,7 @@ class TestEuler(unittest.TestCase):
p1 = np.dot(MRk, np.dot(MRj, e2))
p2 = np.dot(MRk, e3)
rotM = np.column_stack([p1, p2, e2])
- M = angle_rate_matrix(ea, eb, ec, 'syzy')
+ M = angle_rate_matrix(ea, eb, ec, 'yzy')
self.assertTrue(np.allclose(rotM, M))
# rzyz
@@ -322,7 +322,7 @@ class TestEuler(unittest.TestCase):
p1 = np.dot(MRk, np.dot(MRj, e3))
p2 = np.dot(MRk, e2)
rotM = np.column_stack([p1, p2, e3])
- M = angle_rate_matrix(ea, eb, ec, 'szyz')
+ M = angle_rate_matrix(ea, eb, ec, 'zyz')
self.assertTrue(np.allclose(rotM, M))
diff --git a/navipy/maths/test_homogeneous_transformations.py b/navipy/maths/test_homogeneous_transformations.py
index 2677bb4..805ca8a 100644
--- a/navipy/maths/test_homogeneous_transformations.py
+++ b/navipy/maths/test_homogeneous_transformations.py
@@ -220,9 +220,9 @@ class TestHT(unittest.TestCase):
self.assertEqual(scale[0], factor)
def test_decompose_matrix_rotation(self):
- rotation_0 = euler.matrix(1, 2, 3, 'sxyz')
+ rotation_0 = euler.matrix(1, 2, 3, 'xyz')
_, _, angles, _, _ = ht.decompose_matrix(rotation_0)
- rotation_1 = euler.matrix(*angles, 'sxyz')
+ rotation_1 = euler.matrix(*angles, 'xyz')
self.assertTrue(np.allclose(rotation_0, rotation_1))
def test_compose_matrix(self):
@@ -252,7 +252,7 @@ class TestHT(unittest.TestCase):
scale_o = np.random.rand(3)
translation_o = [1, 2, 3]
shear_o = [0, np.tan(angles_o[1]), 0]
- axes = 'sxyz'
+ axes = 'xyz'
matrix = ht.compose_matrix(scale_o, shear_o, angles_o,
translation_o, axes=axes)
scale, shear, angles, trans, persp = ht.decompose_matrix(matrix, axes)
diff --git a/navipy/maths/test_quaternion.py b/navipy/maths/test_quaternion.py
index a21cad1..e49bbe0 100644
--- a/navipy/maths/test_quaternion.py
+++ b/navipy/maths/test_quaternion.py
@@ -7,7 +7,7 @@ import navipy.maths.random as random
class TestQuaternions(unittest.TestCase):
def test_quaternion_from_euler(self):
- quaternion = quat.from_euler(1, 2, 3, 'syxz')
+ quaternion = quat.from_euler(1, 2, 3, 'yxz')
self.assertTrue(np.allclose(quaternion,
[0.435953, 0.310622,
-0.718287, 0.444435]))
diff --git a/navipy/processing/test_OpticFlow.py b/navipy/processing/test_OpticFlow.py
index 2669ad0..9ff3628 100644
--- a/navipy/processing/test_OpticFlow.py
+++ b/navipy/processing/test_OpticFlow.py
@@ -739,8 +739,8 @@ class TestCase(unittest.TestCase):
angles=[ypr[0], ypr[1],ypr[2], -ypr[0], -ypr[1], -ypr[2]]
- #for c in ['sxyz','sxyx','sxzy','sxzx','syzx','syzy','syxz','syxy',
- # 'szxy','szxz','szyx','szyz','rzyx','rxyx','ryzx','rxzx',
+ #for c in ['xyz','xyx','xzy','xzx','yzx','yzy','yxz','yxy',
+ # 'zxy','zxz','zyx','zyz','rzyx','rxyx','ryzx','rxzx',
# 'rxzy','ryzy','rzxy','ryxy','ryxz','rzxz','rxyz','rzyz']:
for al in angles:
for bl in angles:
diff --git a/navipy/trajectories/test_markers.py b/navipy/trajectories/test_markers.py
index d33807c..1b22758 100644
--- a/navipy/trajectories/test_markers.py
+++ b/navipy/trajectories/test_markers.py
@@ -88,7 +88,7 @@ class TestMarkersTransform(unittest.TestCase):
apex0 = self.random_apex()
apex1 = self.random_apex()
apex2 = self.random_apex()
- euler_axes = 'sxyz'
+ euler_axes = 'xyz'
for triangle_mode in mtf._modes:
scale, shear, angles, translate, perspective =\
mtf.markers2decompose(
@@ -105,7 +105,7 @@ class TestMarkersTransform(unittest.TestCase):
mark0 = pd.Series(data=0, index=['x', 'y', 'z'])
for axis_alignement, euler_axes, known_angle in zip(
['x-axis', 'z-axis', 'y-axis'],
- ['szyx', 'syxz', 'szxy'],
+ ['zyx', 'yxz', 'zxy'],
[angles[2], angles[2], angles[2]]):
triangle_mode = 'x-axis=median-from-0'
transform = compose_matrix(angles=angles,
diff --git a/navipy/trajectories/test_trajectory.py b/navipy/trajectories/test_trajectory.py
index 8640151..d8f74e8 100644
--- a/navipy/trajectories/test_trajectory.py
+++ b/navipy/trajectories/test_trajectory.py
@@ -20,7 +20,7 @@ class TestTrajectoryTransform(unittest.TestCase):
markers.index.name = None
# Create a random trajectory
trajectory = Trajectory(indeces=np.arange(10),
- rotconv='sxyz')
+ rotconv='xyz')
trajectory.x = 100 * (np.random.rand(trajectory.shape[0]) - 0.5)
trajectory.y = 100 * (np.random.rand(trajectory.shape[0]) - 0.5)
trajectory.z = 100 * (np.random.rand(trajectory.shape[0]) - 0.5)
@@ -32,12 +32,12 @@ class TestTrajectoryTransform(unittest.TestCase):
(np.random.rand(trajectory.shape[0]) - 0.5)
# Create test trajectory
traj_test = Trajectory(indeces=np.arange(10),
- rotconv='sxyz')
+ rotconv='xyz')
# Devide by two the second anle, because of gimbal lock
col = (trajectory.rotation_mode, 'alpha_1')
trajectory.loc[:, col] = trajectory.loc[:, col] / 2
# forward
- non_tested_euler = ['sxzy', 'sxzx', 'syxy',
+ non_tested_euler = ['xzy', 'xzx', 'yxy',
'rxzx', 'rxzy', 'ryxy']
print('EULER NOT TESTED!!: ', non_tested_euler)
for euler_axes in list(htconst._AXES2TUPLE.keys()):
diff --git a/navipy/trajectories/transformations.py b/navipy/trajectories/transformations.py
index 9fcb694..e3d0631 100644
--- a/navipy/trajectories/transformations.py
+++ b/navipy/trajectories/transformations.py
@@ -231,9 +231,9 @@ rotation convention.
The temporary rotation convention used two determine the euler angles are:
- * szyx, for axis alignment x-axis
- * szxy, for axis alignment y-axis
- * syxz, for axis alignment z-axis
+ * zyx, for axis alignment x-axis
+ * zxy, for axis alignment y-axis
+ * yxz, for axis alignment z-axis
Note: If you know the angle in your rotation convention, then you \
can run this function through a minimisation procedure with free parameter \
@@ -243,21 +243,21 @@ known angle until you get the desired orientation (see twomarkers2euler)
vector = mark1 - mark0
vector = normalise_vec(vector)
if axis_alignement == 'x-axis':
- axes_convention = 'szyx'
+ axes_convention = 'zyx'
beta = np.arcsin(vector.z)
alpha = np.arctan2(-vector.y / np.cos(beta),
vector.x / np.cos(beta))
gamma = known_angle
angles = [alpha, beta, gamma]
elif axis_alignement == 'y-axis':
- axes_convention = 'szxy'
+ axes_convention = 'zxy'
gamma = np.arcsin(-vector.z)
alpha = np.arctan2(vector.x / np.cos(gamma),
vector.y / np.cos(gamma))
beta = known_angle
angles = [alpha, gamma, beta]
elif axis_alignement == 'z-axis':
- axes_convention = 'syxz'
+ axes_convention = 'yxz'
gamma = np.arcsin(vector.y)
beta = np.arctan2(-vector.x / np.cos(gamma),
vector.z / np.cos(gamma))
--
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