geoana.spatial.rotation_matrix_from_normals#
- geoana.spatial.rotation_matrix_from_normals(v0, v1, tol=1e-20, as_matrix=True)#
Generate a 3x3 rotation matrix defining the rotation from vector v0 to v1.
This function builds a quaternion representing the rotation, then constructs the rotation matrix.
\[\mathbf{Av_0} = \mathbf{v_1}\]- Parameters:
- v0(3) numpy.ndarray
Starting orientation direction
- v1(3) numpy.ndarray
Finishing orientation direction
- tolfloat, optional
Numerical tolerance. If the length of the rotation axis is below this value, it is assumed to be no rotation, and an identity matrix is returned.
- as_matrixbool, optional
If
True, a(3,3) numpy.ndarrayis returned. IfFalse, the respectivescipy.spatial.transform.Rotationobject is returned.
- Returns:
- (3, 3) numpy.ndarray or scipy.spatial.transform.Rotation
The rotation matrix from v0 to v1, whose type depends on the as_matrix parameter.