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test
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arnaudon committed Dec 5, 2023
1 parent 85e8b76 commit 027d822
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3 changes: 2 additions & 1 deletion neurots/morphmath/rotation.py
Original file line number Diff line number Diff line change
Expand Up @@ -49,12 +49,13 @@ def rotation_around_axis(axis, angle):
cs = np.cos(angle)

eye = np.eye(3, dtype=float)
return eye
# ddt = np.outer(d, d)
skew = np.array([[0, -d[2], d[1]], [d[2], 0, -d[0]], [-d[1], d[0], 0]], dtype=float)

# mtx = ddt + cs * (eye - ddt) + sn * skew
# mtx = cs * eye + sn * skew + (1. - cs) * ddt
mtx = eye + sn * skew + (1.0 - cs) * np.round(np.linalg.matrix_power(skew, 2), 4)
mtx = eye + sn * skew + (1.0 - cs) * np.linalg.matrix_power(skew, 2)
return mtx


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