def transform(self):
# quaternion realizing transformation
q1 = np.array((np.cos(0.5 * self.axial), 0, 0, np.sin(0.5 * self.axial)))
q2 = q.axis_mover(self.direction)
return q.invert(q.prod(q1, q2))
def transform(self):
# return quaternion giving coord trans
# pay attention to vectorization; this might be weird for single rows?
return q.invert(
np.column_stack((np.cos(0.5 * self.angle), 0, -1.0 * np.sin(0.5 * self.angle), 0))
) # rotate by negative angle