gaitmap.utils.rotations.rotation_from_angle#
- gaitmap.utils.rotations.rotation_from_angle(axis: ndarray, angle: float | ndarray) Rotation[source]#
Create a rotation based on a rotation axis and a angle.
- Parameters:
- axisarray with shape (3,) or (n, 3)
normalized rotation axis ([x, y ,z]) or array of rotation axis
- anglefloat or array with shape (n,)
rotation angle or array of angeles in rad
- Returns:
- rotation(s)Rotation object with len n
Examples
Single rotation: 180 deg rotation around the x-axis
>>> rot = rotation_from_angle(np.array([1, 0, 0]), np.deg2rad(180)) >>> rot.as_quat().round(decimals=3) array([1., 0., 0., 0.]) >>> rot.apply(np.array([[0, 0, 1.0], [0, 1, 0.0]])).round() array([[ 0., -0., -1.], [ 0., -1., 0.]])
Multiple rotations: 90 and 180 deg rotation around the x-axis
>>> rot = rotation_from_angle(np.array([1, 0, 0]), np.deg2rad([90, 180])) >>> rot.as_quat().round(decimals=3) array([[0.707, 0. , 0. , 0.707], [1. , 0. , 0. , 0. ]]) >>> # In case of multiple rotations, the first rotation is applied to the first vector >>> # and the second to the second >>> rot.apply(np.array([[0, 0, 1.0], [0, 1, 0.0]])).round() array([[ 0., -1., 0.], [ 0., -1., 0.]])
