(qvec)
| 41 | |
| 42 | |
| 43 | def qvec2rotmat(qvec): |
| 44 | return np.array([ |
| 45 | [1 - 2 * qvec[2]**2 - 2 * qvec[3]**2, |
| 46 | 2 * qvec[1] * qvec[2] - 2 * qvec[0] * qvec[3], |
| 47 | 2 * qvec[3] * qvec[1] + 2 * qvec[0] * qvec[2]], |
| 48 | [2 * qvec[1] * qvec[2] + 2 * qvec[0] * qvec[3], |
| 49 | 1 - 2 * qvec[1]**2 - 2 * qvec[3]**2, |
| 50 | 2 * qvec[2] * qvec[3] - 2 * qvec[0] * qvec[1]], |
| 51 | [2 * qvec[3] * qvec[1] - 2 * qvec[0] * qvec[2], |
| 52 | 2 * qvec[2] * qvec[3] + 2 * qvec[0] * qvec[1], |
| 53 | 1 - 2 * qvec[1]**2 - 2 * qvec[2]**2]]) |
| 54 | |
| 55 | def rotmat2qvec(R): |
| 56 | Rxx, Ryx, Rzx, Rxy, Ryy, Rzy, Rxz, Ryz, Rzz = R.flat |
no outgoing calls
no test coverage detected