From 478f44692693ff00510b661d533e3f230966c7ad Mon Sep 17 00:00:00 2001
From: "Michele.Maris" <michele.maris@inaf.it>
Date: Sat, 5 Aug 2023 21:49:49 +0200
Subject: [PATCH] u
---
src/yapsut/geometry.py | 2 +
src/yapsut/roto_translation.py | 48 +++++++++++
src/yapsut/vectorized_elemental_rotations.py | 91 ++++++++++++++++++++
3 files changed, 141 insertions(+)
create mode 100644 src/yapsut/roto_translation.py
create mode 100644 src/yapsut/vectorized_elemental_rotations.py
diff --git a/src/yapsut/geometry.py b/src/yapsut/geometry.py
index e439d59..af72b34 100644
--- a/src/yapsut/geometry.py
+++ b/src/yapsut/geometry.py
@@ -1,4 +1,6 @@
import numpy as np
+from .roto_translation import transform,roto_trans_matrix
+from .vectorized_elemental_rotations import vERotX, vERotY, vERotZ, vAX3D, vAY3D, vAZ3D
class ElipsoidTriangulation :
""" creates an elipsoid triangulated """
@property
diff --git a/src/yapsut/roto_translation.py b/src/yapsut/roto_translation.py
new file mode 100644
index 0000000..5726639
--- /dev/null
+++ b/src/yapsut/roto_translation.py
@@ -0,0 +1,48 @@
+__DESCRIPTION__="""
+
+not vectorized rototranslation library
+
+M.Maris - V0.0 - 2018 May 03 -
+
+
+"""
+import numpy as np
+
+
+def transform(point, TransformArray):
+ """ apply a transformation to a 4d point """
+ p = np.array([0,0,0,1])
+ for i in range (0,len(point)-1):
+ p[i] = point[i]
+ p=np.dot(TransformArray,np.transpose(p))
+ for i in range (0,len(point)-1):
+ point[i]=p[i]
+ return point
+
+def roto_trans_matrix(rotation, translation):
+ """returns a rototranslation matrix
+ """
+ xC, xS = trig(rotation[0])
+ yC, yS = trig(rotation[1])
+ zC, zS = trig(rotation[2])
+ dX = translation[0]
+ dY = translation[1]
+ dZ = translation[2]
+ Translate_matrix = np.array([[1, 0, 0, dX],
+ [0, 1, 0, dY],
+ [0, 0, 1, dZ],
+ [0, 0, 0, 1]])
+ Rotate_X_matrix = np.array([[1, 0, 0, 0],
+ [0, xC, -xS, 0],
+ [0, xS, xC, 0],
+ [0, 0, 0, 1]])
+ Rotate_Y_matrix = np.array([[yC, 0, yS, 0],
+ [0, 1, 0, 0],
+ [-yS, 0, yC, 0],
+ [0, 0, 0, 1]])
+ Rotate_Z_matrix = np.array([[zC, -zS, 0, 0],
+ [zS, zC, 0, 0],
+ [0, 0, 1, 0],
+ [0, 0, 0, 1]])
+ return np.dot(Rotate_Z_matrix,np.dot(Rotate_Y_matrix,np.dot(Rotate_X_matrix,Translate_matrix)))
+
diff --git a/src/yapsut/vectorized_elemental_rotations.py b/src/yapsut/vectorized_elemental_rotations.py
new file mode 100644
index 0000000..3a4f615
--- /dev/null
+++ b/src/yapsut/vectorized_elemental_rotations.py
@@ -0,0 +1,91 @@
+__DESCRIPTION__="""
+
+vectorized elemental rotations
+
+M.Maris - V0.0 - 2023 Aug 05 -
+
+
+"""
+import numpy as np
+
+# 3D versors X, Y, Z
+vAX3D = np.array([1,0,0])
+vAY3D = np.array([0,1,0])
+vAZ3D = np.array([0,0,1])
+
+
+def _vectorized_rotation_base_matrix(self,Angle) :
+ """
+commodity function to define a base for a vectorized rotation matrix, returns the components
+I, c, s of a list of elemental 3D rotation matrices with
+
+ I.shape=(N,3,3),
+ c.shape=N,
+ s.shape=N.
+
+with N = 1 is Angle is scalar, otherwise N=len(Angle)
+
+ Parameters
+ ----------
+ :Angle: scalar or array of rotation angle(s) in radiants
+ """
+ _angle=np.array([Angle]) if np.isscalar(Angle) else Angle
+ c=np.cos(_angle)
+ s=np.sin(_angle)
+ I=np.zeros([len(_angle),3,3])
+ I[:,0,0]=1
+ I[:,1,1]=1
+ I[:,2,2]=1
+ return I,c,s
+
+def vERotX(Angle) :
+ """Vectorized elemental rotations about X axis
+
+ returns a list of elemental 3D rotation matrices with shape (N,3,3)
+ with N = 1 if Angle is scalar, otherwise N=len(Angle)
+
+ Parameters
+ ----------
+ :Angle: scalar or array of rotation angle(s) in radiants
+ """
+ R,c,s=_vectorized_rotation_base_matrix(Angle)
+ R[:,1,1]= c
+ R[:,1,2]=-s
+ R[:,2,1]= s
+ R[:,2,2]= c
+ return R
+
+def vERotY(Angle) :
+ """Vectorized elemental rotations about Y axis
+
+ returns a list of elemental 3D rotation matrices with shape (N,3,3)
+ with N = 1 if Angle is scalar, otherwise N=len(Angle)
+
+ Parameters
+ ----------
+ :Angle: scalar or array of rotation angle(s) in radiants
+ """
+ R,c,s=_vectorized_rotation_base_matrix(Angle)
+ R[:,0,0]= c
+ R[:,0,2]= s
+ R[:,2,0]=-s
+ R[:,2,2]= c
+ return R
+
+def vERotZ(Angle) :
+ """Vectorized elemental rotations about Z axis
+
+ returns a list of elemental 3D rotation matrices with shape (N,3,3)
+ with N = 1 if Angle is scalar, otherwise N=len(Angle)
+
+ Parameters
+ ----------
+ :Angle: scalar or array of rotation angle(s) in radiants
+ """
+ R,c,s=_vectorized_rotation_base_matrix(Angle)
+ R[:,0,0]= c
+ R[:,0,1]=-s
+ R[:,1,0]= s
+ R[:,1,1]= c
+ return R
+
--
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