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emmy.mechanics.rotation


angle-axis->rotation-matrixclj/s

(angle-axis->rotation-matrix theta [x y z])
source

Euler->Mclj/s

(Euler->M [theta phi psi])

Compute the rotation matrix from a 3-vector of Euler angles.

Our Euler Angle convention:

M(theta, phi, psi) = R_z(phi)*R_x(theta)*R_z(psi)

Compute the rotation matrix from a 3-vector of Euler angles.

Our Euler Angle convention:

M(theta, phi, psi) = R_z(phi)*R_x(theta)*R_z(psi)
sourceraw docstring

M->Eulerclj/s

(M->Euler M)
(M->Euler M tolerance-in-ulps)

Given a 3x3 rotation matrix, returns a emmy.structure/up of the corresponding Euler angles.

Our Euler Angle convention:

M(theta, phi, psi) = R_z(phi)*R_x(theta)*R_z(psi)

Given a 3x3 rotation matrix, returns a [[emmy.structure/up]] of the
corresponding Euler angles.

Our Euler Angle convention:

M(theta, phi, psi) = R_z(phi)*R_x(theta)*R_z(psi)
sourceraw docstring

rotate-xclj/s

source

rotate-x-matrixclj/s

(rotate-x-matrix α)

Produce the matrix of a rotation of α radians about the x axis.

Produce the matrix of a rotation of α radians about the x axis.
sourceraw docstring

rotate-x-tupleclj/s

(rotate-x-tuple α)
source

rotate-yclj/s

source

rotate-y-matrixclj/s

(rotate-y-matrix α)

Produce the matrix of a rotation of α radians about the y axis.

Produce the matrix of a rotation of α radians about the y axis.
sourceraw docstring

rotate-y-tupleclj/s

(rotate-y-tuple α)
source

rotate-zclj/s

source

rotate-z-matrixclj/s

(rotate-z-matrix α)

Produce the matrix of a rotation of α radians about the z axis.

Produce the matrix of a rotation of α radians about the z axis.
sourceraw docstring

rotate-z-tupleclj/s

(rotate-z-tuple α)
source

Rxclj/s

(Rx α)

Returns a function which rotates a vector α radians about the x axis.

Returns a function which rotates a vector α radians about the x axis.
sourceraw docstring

Rx-matrixclj/s

source

Ryclj/s

(Ry α)

Returns a function which rotates a vector α radians about the y axis.

Returns a function which rotates a vector α radians about the y axis.
sourceraw docstring

Ry-matrixclj/s

source

Rzclj/s

(Rz α)

Returns a function which rotates a vector α radians about the z axis.

Returns a function which rotates a vector α radians about the z axis.
sourceraw docstring

Rz-matrixclj/s

source

wcross->wclj/s

(wcross->w A)
source

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