API reference¶
euler2matrix¶
- eulerangles.euler2matrix(euler_angles: numpy.ndarray, axes: str, intrinsic: bool, right_handed_rotation: bool) numpy.ndarray¶
Derive rotation matrices from a set of euler angles.
- Parameters
- euler_angles(n, 3) or (3,) array
euler angles (in degrees)
- axesstr
valid sequence of three non-sequential axes from ‘x’, ‘y’ and ‘z’ e.g. ‘zyz’, ‘zxz’, ‘xyz’
- intrinsicbool
True - Euler angles are interpreted as intrinsic rotations False - Euler angles are interpreted as extrinsic rotations
- right_handed_rotationbool
True - Euler angles are interpreted as right handed rotations False - Euler angles are interpreted as left handed rotations
- Returns
- rotation_matrices(n, 3, 3) or (3, 3) array
rotation matrices derived from euler angles.
matrix2euler¶
- eulerangles.matrix2euler(rotation_matrices: numpy.ndarray, axes: str, intrinsic: bool, right_handed_rotation: bool) numpy.ndarray¶
Derive a set of euler angles from a set of rotation matrices.
- Parameters
- rotation_matrices(n, 3, 3) or (3, 3) array of float
rotation matrices from which euler angles are derived
- axesstr
valid sequence of three non-sequential axes from ‘x’, ‘y’ and ‘z’ e.g. ‘zyz’, ‘zxz’, ‘xyz’
- intrinsicbool
True - Euler angles are for intrinsic rotations False - Euler angles are for extrinsic rotations
- right_handed_rotationbool
True - Euler angles are for right handed rotations False - Euler angles are for left handed rotations
- Returns
- euler_angles(n, 3) or (3,) array
Euler angles derived from rotation matrices
euler2euler¶
- eulerangles.euler2euler(euler_angles: numpy.ndarray, source_axes: str, source_right_handed_rotation: bool, source_intrinsic: bool, target_axes: str, target_right_handed_rotation: bool, target_intrinsic: bool, invert_matrix: bool)¶
Convert a set of Euler angles defined one way into a set of Euler angles defined another way.
- Parameters
- euler_angles(n, 3) or (3,) array
Euler angles to convert
- source_axesstr
valid sequence of three non-sequential axes from ‘x’, ‘y’ and ‘z’
- source_right_handed_rotationbool
True - Euler angles are interpreted as right handed rotations False - Euler angles are interpreted as left handed rotations
- source_intrinsicbool
True - Euler angles are interpreted as intrinsic rotations False - Euler angles are interpreted as extrinsic rotations
- target_axesstr
valid sequence of three non-sequential axes from ‘x’, ‘y’ and ‘z’
- target_right_handed_rotationbool
True - Euler angles are interpreted as right handed rotations False - Euler angles are interpreted as left handed rotations
- target_intrinsicbool
True - Euler angles are interpreted as intrinsic rotations False - Euler angles are interpreted as extrinsic rotations
- invert_matrixbool
True - rotation matrices will be inverted prior to deriving new Euler angles False - rotation matrices will not be inverted prior to deriving new Euler angles
- Returns
- euler_angles(n, 3) or (3,) array
Euler angles generated from input Euler angles
convert_eulers¶
- eulerangles.convert_eulers(euler_angles: numpy.ndarray, source_meta: Union[eulerangles.base.ConversionMeta, str], target_meta: Union[eulerangles.base.ConversionMeta, str])¶
Convert Euler angles defined according to one ‘convention’ into Euler angles defined according to another.
- Parameters
- euler_angles(n, 3) or (3,) array of float
Euler angles to be converted
- source_metaConversionMeta or str
metadata defining how to interpret the euler angles or a string with the name of a software package
- target_metaConversionMeta or str
metadata defining how to generate euler angles or a string with the name of a software package
- Returns
- euler_angles(n, 3) or (3,) array of float
Euler angles resulting from conversion
invert_rotation_matrices¶
- eulerangles.invert_rotation_matrices(rotation_matrices: numpy.ndarray)¶
Invert rotation matrices by transposing the last two axes
ConversionMeta¶
- class eulerangles.ConversionMeta(name: str, axes: str, intrinsic: bool, right_handed_rotation: bool, active: bool)¶
A simple object holding metadata explaining how to interpret Euler angles in the context of density reconstruction from transmission electron microscopy data.
- name: str
the name of the software package
- axes: str
a valid non-sequential sequence of axes e.g. ‘zxz’, ‘yxz’
- intrinsic: bool
True - the euler angles represent intrinsic rotations, the coordinate system moves with the rotating rigid body False - the euler angles represent extrinsic rotations, the rigid body rotates with respect to a fixed coordinate system
- right_handed_rotation: bool
True - the euler angles represent right handed rotations in a right handed coordinate system False - the euler angles represent left handed rotations in a right handed coordinate system
- active: bool
True - the transformation is an active transformation False - the transformation is a passive transformation this property is only used during comparison of ConversionMeta objects when deciding whether or not to invert rotation matrices during euler angle conversion.