symforce.geo.rot3 module#
- class Rot3(q=None)[source]#
Bases:
LieGroup
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 (Quaternion) –
- to_storage()[source]#
Flat list representation of the underlying storage, length of
storage_dim()
. This is used purely for plumbing, it is NOT like a tangent space.
- classmethod from_storage(vec)[source]#
Construct from a flat list representation. Opposite of
to_storage()
.
- classmethod symbolic(name, **kwargs)[source]#
Construct a symbolic element with the given name prefix. Kwargs are forwarded to
sf.Symbol
(for example, sympy assumptions).
- classmethod from_tangent(v, epsilon=0.0)[source]#
Mapping from the tangent space vector about identity into a group element.
- to_tangent(epsilon=0.0)[source]#
Mapping from this element to the tangent space vector about identity.
- storage_D_tangent()[source]#
Note: generated from
symforce/notebooks/storage_D_tangent.ipynb
- Return type:
- tangent_D_storage()[source]#
Note: generated from
symforce/notebooks/tangent_D_storage.ipynb
- Return type:
- to_yaw_pitch_roll(epsilon=0.0)[source]#
Compute the yaw, pitch, and roll Euler angles in radians of this rotation
- classmethod from_yaw_pitch_roll(yaw=0, pitch=0, roll=0)[source]#
Construct from yaw, pitch, and roll Euler angles in radians
- classmethod from_angle_axis(angle, axis)[source]#
Construct from an angle in radians and a (normalized) axis as a 3-vector.
- classmethod from_two_unit_vectors(a, b, epsilon=0.0)[source]#
Return a rotation that transforms a to b. Both inputs are three-vectors that are expected to be normalized.