sym.rot3 module#
- class Rot3(q=None)[source]#
Bases:
object
Autogenerated Python implementation of
symforce.geo.rot3.Rot3
.Group of three-dimensional orthogonal matrices with determinant
+1
, representing rotations in 3D space. Backed by a quaternion with (x, y, z, w) storage.- Parameters:
q (T.Union[T.Sequence[float], numpy.ndarray]) –
- compose_with_point(right)[source]#
Left-multiplication. Either rotation concatenation or point transform.
- static random_from_uniform_samples(u1, u2, u3)[source]#
Generate a random element of SO3 from three variables uniformly sampled in [0, 1].
- to_yaw_pitch_roll()[source]#
This function was autogenerated from a symbolic function. Do not modify by hand.
Symbolic function: <lambda>
Args:
- Outputs:
res: Matrix31
- Return type:
- static from_yaw_pitch_roll(yaw, pitch, roll)[source]#
Construct from yaw, pitch, and roll Euler angles in radians
- static from_angle_axis(angle, axis)[source]#
Construct from an angle in radians and a (normalized) axis as a 3-vector.
- static from_two_unit_vectors(a, b, epsilon)[source]#
Return a rotation that transforms a to b. Both inputs are three-vectors that are expected to be normalized.