i3assist.RotationMatrix

class i3assist.RotationMatrix(angles=None, unit='deg')[source]

Describes a particle’s orientation using ZXZ passive rotation matrix.

The rotation matrix is the composition of three rotations matrices with the first and third being about the Z-axis and the second about the X-axis.

All rotations are passive (alias) transformations of the coordinate axes and not of point coordinates (active / alibi).

Parameters:
  • angles (list of float, optional) – Euler angles describing the rotation.
  • unit (str, optional) – Whether rotations are in degrees “deg” or radians “rad”
__init__(angles=None, unit='deg')[source]

Methods

__init__([angles, unit])
copy() Returns a copy of the rotation matrix.
invert([inplace]) Returns rotation matrix describing opposite rotation.
pos_string() Returns string of angles in old I3 pos format.
to_euler([unit]) Converts rotation matrix to equivalent euler angles.
transpose([inplace]) Returns rotation matrix describing opposite rotation.
trf_string() Returns string of angles in new I3 trf format.

Attributes

matrix numpy.ndarray – (3,3) matrix describing the rotation.