artist.geometry.rotations

Functions

decompose_rotations(→ tuple[torch.Tensor, ...)	Compute ENU components of the axis-angle rotation vector that rotates initial vectors toward a target vector.
rotation_angle_and_axis(→ tuple[torch.Tensor, ...)	Compute the rotation axis and angle between two orientations.

Module Contents

artist.geometry.rotations.decompose_rotations(initial_vector: torch.Tensor, target_vector: torch.Tensor) → tuple[torch.Tensor, torch.Tensor, torch.Tensor]

Compute ENU components of the axis-angle rotation vector that rotates initial vectors toward a target vector.

This function does not perform an Euler-angle decomposition. Instead, it computes: 1) the rotation axis via cross product, and 2) the rotation magnitude via arccos of the dot product, then returns the Cartesian components of the rotation vector (theta * axis) in east, north, and up coordinates.

Parameters

initial_vectortorch.Tensor

Initial vectors in homogeneous coordinates. Shape is [number_of_heliostats, 4]. Only the first three components (ENU) are used.

target_vectortorch.Tensor

Target vector in homogeneous coordinates. Shape is [4]. Only the first three components (ENU) are used.

Returns

torch.Tensor

East component of the axis-angle rotation vector. Shape is [number_of_heliostats].

torch.Tensor

North component of the axis-angle rotation vector. Shape is [number_of_heliostats].

torch.Tensor

Up component of the axis-angle rotation vector. Shape is [number_of_heliostats].

artist.geometry.rotations.rotation_angle_and_axis(from_orientation: torch.Tensor, to_orientation: torch.Tensor, device: torch.device | None = None) → tuple[torch.Tensor, torch.Tensor]

Compute the rotation axis and angle between two orientations.

Parameters

from_orientationtorch.Tensor

The original orientation. Shape is [4].

to_orientationtorch.Tensor

The rotated orientation. Shape is [4].

devicetorch.device | None

The device on which to perform computations or load tensors and models (default is None). If None, ARTIST will automatically select the most appropriate device (CUDA or CPU) based on availability and OS.

Returns

torch.Tensor

The rotation axis. Shape is [3].

torch.Tensor

The angle of the rotation as a scalar tensor.