def rotation_matrix_between_vectors(from_vec, to_vec):
"""Returns a rotation matrix to rotate from 3d vector "from_vec" to 3d vector "to_vec"."""
a, b = (trans.unit_vector(vec) for vec in (from_vec, to_vec))
v = np.cross(a, b)
cos = np.dot(a, b)
if cos == -1.:
raise ValueError("Orientation in complete opposite direction")
v_cpm = cross_product_matrix(v)
rot_mat = np.identity(3) + v_cpm + np.dot(v_cpm, v_cpm) * (1. / 1. + cos)
return rot_mat
def rotation_matrix_between_vectors(from_vec, to_vec):
"""
Returns a rotation matrix to rotate from 3d vector "from_vec" to 3d vector "to_vec".
Equation from https://math.stackexchange.com/questions/180418/calculate-rotation-matrix-to-align-vector-a-to-vector-b-in-3d
"""
a, b = (trans.unit_vector(vec) for vec in (from_vec, to_vec))
v = np.cross(a, b)
cos = np.dot(a, b)
if cos == -1.:
raise ValueError("Orientation in complete opposite direction")
v_cpm = cross_product_matrix(v)
rot_mat = np.identity(3) + v_cpm + np.dot(v_cpm, v_cpm) * (1. / 1. + cos)
return rot_mat
def orientation0(self, vector):
if len(vector) != 3:
raise ValueError("Orientation vector should be an xyz vector.")
self._orientation0 = trans.unit_vector(vector)
def orientation0(self, vector):
assert len(vector) == 3
self._orientation0 = trans.unit_vector(vector)