rotate_array

Specification

Location	Author	Maintained by
isl/math/quaternion.py	Kenny Erleben	DIKU

Purpose & Params

For information about rotation look at the documentation for rotation of quaterion, rotate. The purpose of this function is to rotate multiple points with the same degree and around the same axis.

Example

    # Rotate three coordinates 90 degrees around the y axis
    radian    = (0.5 * np.pi)/2
    axis      = np.array([0,1,0])
    axis_unit = axis / np.linalg.norm(axis)
    q  = quat.make(np.cos(radian),axis_unit[0] * np.sin(radian),axis_unit[1] * np.sin(radian),axis_unit[2] * np.sin(radian))
    rs = np.array([
        [1,0,0],
        [0,1,0],
        [0,0,1]
    ], dtype=np.float64)
    print(quat.rotate_array(q, rs))

output:

   [[ 2.22044605e-16  0.00000000e+00 -1.00000000e+00]
    [ 0.00000000e+00  1.00000000e+00  0.00000000e+00]
    [ 1.00000000e+00  0.00000000e+00  2.22044605e-16]]