component_model.utils.transform

Functions

cartesian_to_cylindrical(vec[, deg])	Turn the vector 'vec' given in cartesian coordinates into cylindrical coordinates.
cartesian_to_spherical(vec[, deg])	Turn the vector 'vec' given in cartesian coordinates into spherical coordinates.
cylindrical_to_cartesian(vec[, deg])	Turn cylinder coordinate vector 'vec' (defined according to ISO (r,phi,z)) into cartesian coordinates.
euler_rot_spherical(rpy[, vec, seq, degrees])	Rotate the spherical vector vec using the Euler angles (yaw,pitch,roll).
normalized(vec)	Return the normalized vector.
quantity_direction(quantity_direction[, ...])	Turn a 4-tuple, consisting of quantity (float) and a direction 3-vector to a direction 3-vector, where the norm denotes the direction and the length denotes the quantity.
rot_from_spherical(vec[, degrees])	Return a scipy Rotation object from the spherical coordinates vec, i.e. the rotation which turns a vector along the z-axis into vec.
rot_from_vectors(vec1, vec2)	Find the rotation object which rotates vec1 into vec2.
spherical_to_cartesian(vec[, deg])	Turn spherical vector 'vec' (defined according to ISO 80000-2 (r,polar,azimuth)) into cartesian coordinates.
spherical_unique(vec[, eps])

component_model.utils.transform.cartesian_to_cylindrical(vec: ndarray | tuple[float, ...], deg: bool = False) → ndarray

Turn the vector ‘vec’ given in cartesian coordinates into cylindrical coordinates. (defined according to ISO, (r, phi, z), with phi right-handed wrt. x-axis).

component_model.utils.transform.cartesian_to_spherical(vec: ndarray | tuple[float, ...], deg: bool = False) → ndarray

Turn the vector ‘vec’ given in cartesian coordinates into spherical coordinates. (defined according to ISO 80000-2, (r, polar, azimuth)).

component_model.utils.transform.cylindrical_to_cartesian(vec: ndarray | tuple[float, ...], deg: bool = False) → ndarray

Turn cylinder coordinate vector ‘vec’ (defined according to ISO (r,phi,z)) into cartesian coordinates. The angle phi is measured with respect to x-axis, right hand.

component_model.utils.transform.euler_rot_spherical(rpy: tuple[float, ...] | list[float] | Rotation, vec: tuple[float, ...] | list[float] | None = None, seq: str = 'XYZ', degrees: bool = False) → ndarray

Rotate the spherical vector vec using the Euler angles (yaw,pitch,roll).

Parameters:

• rpy (Sequence|Rotation) – The sequence of (yaw,pitch,roll) Euler angles or the pre-calculated Rotation object

• vec – (Sequence): the spherical vector to be rotated None: Use unit vector in z-direction, i.e. (1,0,0) 2-sequence: only polar and azimuth provided and returned => (polar,azimuth) 3-sequence: (r,polar,azimuth)

• seq (str) – Sequence of rotations as defined in scipy.spatial.transform.Rotation.from_euler()

• degrees (bool) – angles optionally provided in degrees. Default: radians

Returns:

The rotated vector in spherical coordinates (radius only if 3-vector is provided)

component_model.utils.transform.normalized(vec: ndarray) → ndarray

Return the normalized vector. Helper function.

component_model.utils.transform.quantity_direction(quantity_direction: tuple[float, ...], spherical: bool = False, deg: bool = False) → ndarray

Turn a 4-tuple, consisting of quantity (float) and a direction 3-vector to a direction 3-vector, where the norm denotes the direction and the length denotes the quantity. The return vector is always a cartesian vector.

Parameters:

• quantity_direction (tuple) – a 4-tuple consisting of the desired length of the resulting vector (in standard units (m or m/s)) and the direction 3-vector (in standard units)

• spherical (bool) – Optional possibility to provide the input direction vector in spherical coordinates

• deg (bool) – Optional possibility to provide the input angle (of spherical coordinates) in degrees. Only relevant if spherical=True

component_model.utils.transform.rot_from_spherical(vec: tuple[float, ...] | list[float] | ndarray, degrees: bool = False) → Rotation

Return a scipy Rotation object from the spherical coordinates vec, i.e. the rotation which turns a vector along the z-axis into vec.

Parameters:

• vec (Sequence | np.ndarray) – a spherical vector as 3D or 2D (radius omitted)

• degrees (bool) – optional possibility to provide angles in degrees

component_model.utils.transform.rot_from_vectors(vec1: ndarray, vec2: ndarray) → Rotation

Find the rotation object which rotates vec1 into vec2. Lengths of vec1 and vec2 shall be equal.

component_model.utils.transform.spherical_to_cartesian(vec: ndarray | tuple[float, ...], deg: bool = False) → ndarray

Turn spherical vector ‘vec’ (defined according to ISO 80000-2 (r,polar,azimuth)) into cartesian coordinates.

component_model.utils.transform.spherical_unique(vec: ndarray, eps: float = 1e-10) → ndarray