Rotation

class tri3d.geometry.Rotation(quat)

A Rotation defined by a quaternion (w, x, y, z).

__matmul__(other)

Compose transformations together.

The rightmost operation is applied first.

Parameters:

other (Transformation)

Return type:

Transformation

apply(x)

Apply transformation to given point or array of points.

The broadcasting rules between transformations and their inputs are as follows:

transform	input	output	brodcast
[]	[3]	[3]	single mapping
[]	[n,3]	[n,3]	broadcast transform
[n]	[3]	[n,3]	broadcst input
[n]	[n]	[n,3]	one-to-one mapping

Return type:

ndarray

inv()

Return inverse transformation.

property single

Whether this is a single transformation or a batch.

as_quat()

Return the quaternion representation.

classmethod from_matrix(mat)

Create a rotation from 3x3 or 4x4 rotation matrices.

as_matrix()

Return the rotation as a 4x4 rotation matrix.

Return type:

ndarray