commonlibs.math package

Submodules

commonlibs.math.interpolation module

Interpolation

commonlibs.math.interpolation.lin_interpol(y12, x12, x)[source]

Return linear interpolation between two support points.

Args:
y12

(tuple) y1 and y2 value

x12

(tuple) x1 and x2 value

x

(float) position for which to return the interpolation

Returns:
y_x

(float) linearly interpolated y(x)

commonlibs.math.vectors module

Vectors

commonlibs.math.vectors.angle_between(vector1, vector2)[source]

Return the angle in radians between vectors ‘vector1’ and ‘vector2’

# See also: https://stackoverflow.com/questions/2827393/

angles-between-two-n-dimensional-vectors-in-python/13849249#13849249

commonlibs.math.vectors.axis_rot_matrix(axis, angle)[source]

Return a rotation matrix associated with counterclockwise rotation about a given axis by angle radians.

Note:
Args:
axis

3x1 axis vector

angle

rotation aangle in radians

Returns:
R

rotation matrix

commonlibs.math.vectors.direction_cosine(vector1, vector2)[source]

Returns the direcion cosine between vectors ‘vector1’ and ‘vector2’

See also:

Args:
vector1

First vector

vector2

Second vector

Returns:
direction_cosine

Direction cosine

commonlibs.math.vectors.get_plane_line_intersect(plane_normal, plane_point, line_direction, line_point, epsilon=1e-06)[source]

Get the intersection point for a line and a plane in 3D space.

Note:

  • The line is defined by its direction (vector) and any point on the line

  • The plane is defined by its normal (vector) and any point on the plane

Args:
plane_normal

3x1 normal vector of the plane

plane_point

point (3x1 vector) of the plane (any)

line_direction

3x1 vector with the direction of the line

line_point

point (3x1 vector) of the line (any)

epsilon

tolerance for near-orthogonal ‘plane_normal’ and ‘line_direction’

commonlibs.math.vectors.rotate_vector_around_axis(vector, axis, angle, return_unit=False)[source]

Rotate a vector by an angle around a defined axis.

Note:

  • Returns the original vector if the Euclidean norm of ‘vector’ or ‘axis’ is zero or if ‘angle’ is zero

Args:
vector

Vector to be rotated

axis

3x1 axis vector

angle

Rotation angle in radians

Returns:
rot_vector

rotated vector

commonlibs.math.vectors.unit_vector(vector)[source]

Return the unit vector of a vector.

commonlibs.math.vectors.vector_projection(a, b)[source]

Return the vector projection from vector a onto vector b

See:
Args:
a

vector to be projected

b

vector onto which a is projected

Returns:
a1

vector projection

commonlibs.math.vectors.vector_projection_onto_plane(vector, plane_normal)[source]

Project a vecor onto a plane

Args:
vector

vector to be projected

plane_normal

normal vector of the plane

Returns:
vector_proj

projected vector

commonlibs.math.vectors.vector_rejection(a, b)[source]

Return the vector rejection from vector a onto vector b

See:
Args:
a

vector to be projected

b

vector onto which a is projected

Returns:
a2

vector rejection

Module contents