RotEx is a set of python helper functions to apply 3D rotation, like Euler Angles etc, based on scipy.spatial.transform.Rotation. You can learn, understand and test Rotation quickly, and use these functions in your codes easily.

It includes:

• rotex, the core of module, as an extension of scipy.spatial.transform.Rotation. It provides basic algrithm from mathematics perspective.
• attitude, rotate_vectors ..., providing some functions for all kinds of applications of rotation from application perspective.
• tests, pytest functions for the above, for dev only.
• tools, some tools, for dev only.

Please see the comments above all functions in source code to get details.

Please ref to ./tests/* code to get some examples to call these functions.

Make rotation easy, not dizzy!

• python >3.0
• scipy
• pytest

• Install from the Python Package Index:

  pip install RotEx

• Install from the source:

  cd RotEx
  pip install -e .

• Use the RotEx module

  from RotEx import utils
  from RotEx import rotex
  from RotEx import attitude
  from RotEx import rotate_vectors
  
  (rot, att) = attitude.from_heading_in_enu_frame(np.array([-1, 2, 3]), 15, True)
  ...

• Try test RotEx (only for from source)

  Run test.py in the root. It calls tests on all functions provided in RotEx folder.