sicmutils.mechanics.rotation — sicmutils 0.22.0

angle-axis->rotation-matrix clj/s

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

Euler->M clj/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)

M->Euler clj/s

(M->Euler M)

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

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

Our Euler Angle convention:

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

rotate-x clj/s

rotate-x-matrix clj/s

(rotate-x-matrix α)

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

rotate-x-tuple clj/s

(rotate-x-tuple α)

rotate-y clj/s

rotate-y-matrix clj/s

(rotate-y-matrix α)

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

rotate-y-tuple clj/s

(rotate-y-tuple α)

rotate-z clj/s

rotate-z-matrix clj/s

(rotate-z-matrix α)

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

rotate-z-tuple clj/s

(rotate-z-tuple α)

Rx clj/s

(Rx α)

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

Rx-matrix clj/s

Ry clj/s

(Ry α)

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

Ry-matrix clj/s

Rz clj/s

(Rz α)

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

Rz-matrix clj/s

wcross->w clj/s

(wcross->w A)