skais_mapper.rotations

Rotation operators for point cloud arrays.

Classes:

Name	Description
R	Class of rotation operators.

R

R(omega: np.ndarray | None = None)

Class of rotation operators.

Initialize rotator object.

Parameters:

Name	Type	Description	Default
omega	np.ndarray | None	Rotation angle in	None

Methods:

Name	Description
__call__	Rotate the input according to this rotation operator.
x	Rotation operator about the current x-axis by angle theta.
y	Rotation operator about the current y-axis by angle theta.
z	Rotation operator about the current z-axis by angle theta.

Source code in skais_mapper/rotations.py

def __init__(self, omega: np.ndarray | None = None):
    """Initialize rotator object.

    Args:
        omega: Rotation angle in
    """
    self.omega = omega

__call__

__call__(arr: np.ndarray, **kwargs) -> np.ndarray

Rotate the input according to this rotation operator.

Parameters:

Name	Type	Description	Default
arr	np.ndarray	The array to be rotated	required
kwargs		Dummy keyword arguments	{}

Returns:

Name	Type	Description
arr	np.ndarray	The rotated array

Source code in skais_mapper/rotations.py

def __call__(self, arr: np.ndarray, **kwargs) -> np.ndarray:
    """Rotate the input according to this rotation operator.

    Args:
        arr: The array to be rotated
        kwargs: Dummy keyword arguments

    Returns:
        arr: The rotated array
    """
    if self.omega is None:
        self.omega = self._x(0)
    arr = arr @ self.omega.transpose()
    return arr

x classmethod

x(theta: float, degrees: bool = True) -> TRotation

Rotation operator about the current x-axis by angle theta.

Parameters:

Name	Type	Description	Default
theta	float	Rotation angle in degrees or radians (see below)	required
degrees	bool	Rotation in degrees, if false in radians	True

Source code in skais_mapper/rotations.py

@classmethod
def x(cls, theta: float, degrees: bool = True) -> TRotation:
    """Rotation operator about the current x-axis by angle theta.

    Args:
        theta: Rotation angle in degrees or radians (see below)
        degrees: Rotation in degrees, if false in radians
    """
    omega = cls._x(theta, degrees=degrees)
    return cls(omega)

y classmethod

y(theta: float, degrees: bool = True) -> TRotation

Rotation operator about the current y-axis by angle theta.

Parameters:

Name	Type	Description	Default
theta	float	Rotation angle in degrees or radians (see below)	required
degrees	bool	Rotation in degrees, if false in radians	True

Source code in skais_mapper/rotations.py

@classmethod
def y(cls, theta: float, degrees: bool = True) -> TRotation:
    """Rotation operator about the current y-axis by angle theta.

    Args:
        theta: Rotation angle in degrees or radians (see below)
        degrees: Rotation in degrees, if false in radians
    """
    omega = cls._y(theta, degrees=degrees)
    return cls(omega)

z classmethod

z(theta: float, degrees: bool = True) -> TRotation

Rotation operator about the current z-axis by angle theta.

Parameters:

Name	Type	Description	Default
theta	float	Rotation angle in degrees or radians (see below)	required
degrees	bool	Rotation in degrees, if false in radians	True

Source code in skais_mapper/rotations.py

@classmethod
def z(cls, theta: float, degrees: bool = True) -> TRotation:
    """Rotation operator about the current z-axis by angle theta.

    Args:
        theta: Rotation angle in degrees or radians (see below)
        degrees: Rotation in degrees, if false in radians
    """
    omega = cls._z(theta, degrees=degrees)
    return cls(omega)