Rotate

class Rotate(angle: float)

A Rotate transformation rotates a vector around (0, 0, 0) by a given angle θ.

This uses the axis-angle representation, but is restricted to the axis (0, 0, 1). In the future, this can be updated to allow for rotations not in the XY-plane.

Its matrix looks like:

┏                                  ┓
┃  cos(θ)  -sin(θ)    0       0    ┃
┃  sin(θ)   cos(θ)    0       0    ┃
┃     0       0       1       0    ┃
┃     0       0       0       1    ┃
┗                                  ┛

Attributes

`angle`	The angle to rotate by, θ.
`cos_angle`	`cos(θ)`.
`sin_angle`	`sin(θ)`.

Methods

`apply`	Apply this `Rotate` to a vector.
`inverse`	The inverse `HomogeneousTransformation` of this one.

apply(vector: ndarray[3]) → ndarray[3]: Apply this Rotate to a vector.

inverse(): The inverse HomogeneousTransformation of this one.

angle: The angle to rotate by, θ.

cos_angle: cos(θ).

sin_angle: sin(θ).