klampt.math.so2 module¶
Operations for 2D rotations. Rotations are represented by a single number giving the angle in radians.
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klampt.math.so2.
apply
(a, pt)[source]¶ Applies a rotation of the angle a about the origin to the point pt
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klampt.math.so2.
diff
(a, b)[source]¶ returns the CCW difference between angles a and b, i.e. the amount that you’d neet to rotate from b to get to a. The result is in the range [-pi,pi]
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klampt.math.so2.
interp
(a, b, u)[source]¶ interpolates on the geodesic between angles a and b, with interpolation parameter u in the range [0,1] (can also be used for extrapolation).