rotation

Genentech · Apr 6, 2024 · 03685a8 · 03685a8
1 parent 291b911
commit 03685a8
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Showing 39 changed files with 155 additions and 42 deletions.
diff --git a/pyproject.toml b/pyproject.toml
@@ -25,5 +25,10 @@ test = [
 [tool.ruff.format]
 docstring-code-format = true
 
+[tool.ruff.lint.per-file-ignores]
+"__init__.py" = [
+    "F401", # MODULE IMPORTED BUT UNUSED
+]
+
 [tool.setuptools_scm]
 local_scheme = "no-local-version"
diff --git a/src/beignet/__init__.py b/src/beignet/__init__.py
@@ -1,55 +1,39 @@
 import importlib.metadata
 from importlib.metadata import PackageNotFoundError
-from ._apply_euler_angle import apply_euler_angle
-from ._apply_rotation_matrix import apply_rotation_matrix
-from ._apply_rotation_quaternion import (
+from ._geometry import (
+    apply_euler_angle,
+    apply_rotation_matrix,
     apply_rotation_quaternion,
-)
-from ._apply_rotation_vector import apply_rotation_vector
-from ._compose_rotation_quaternion import compose_rotation_quaternion
-from ._euler_angle_identity import euler_angle_identity
-from ._euler_angle_magnitude import euler_angle_magnitude
-from ._euler_angle_to_rotation_matrix import euler_angle_to_rotation_matrix
-from ._euler_angle_to_rotation_quaternion import (
+    apply_rotation_vector,
+    compose_rotation_quaternion,
+    euler_angle_identity,
+    euler_angle_magnitude,
+    euler_angle_to_rotation_matrix,
     euler_angle_to_rotation_quaternion,
-)
-from ._euler_angle_to_rotation_vector import euler_angle_to_rotation_vector
-from ._invert_euler_angle import invert_euler_angle
-from ._invert_rotation_matrix import invert_rotation_matrix
-from ._invert_rotation_quaternion import invert_rotation_quaternion
-from ._invert_rotation_vector import invert_rotation_vector
-from ._mean_rotation_quaternion import mean_rotation_quaternion
-from ._random_euler_angle import random_euler_angle
-from ._random_rotation_matrix import random_rotation_matrix
-from ._random_rotation_quaternion import random_rotation_quaternion
-from ._random_rotation_vector import random_rotation_vector
-from ._rotation_matrix_identity import rotation_matrix_identity
-from ._rotation_matrix_magnitude import rotation_matrix_magnitude
-from ._rotation_matrix_to_euler_angle import rotation_matrix_to_euler_angle
-from ._rotation_matrix_to_rotation_quaternion import (
+    euler_angle_to_rotation_vector,
+    invert_euler_angle,
+    invert_rotation_matrix,
+    invert_rotation_quaternion,
+    invert_rotation_vector,
+    mean_rotation_quaternion,
+    random_euler_angle,
+    random_rotation_matrix,
+    random_rotation_quaternion,
+    random_rotation_vector,
+    rotation_matrix_identity,
+    rotation_matrix_magnitude,
+    rotation_matrix_to_euler_angle,
     rotation_matrix_to_rotation_quaternion,
-)
-from ._rotation_matrix_to_rotation_vector import (
     rotation_matrix_to_rotation_vector,
-)
-from ._rotation_quaternion_identity import rotation_quaternion_identity
-from ._rotation_quaternion_magnitude import rotation_quaternion_magnitude
-from ._rotation_quaternion_to_euler_angle import (
+    rotation_quaternion_identity,
+    rotation_quaternion_magnitude,
     rotation_quaternion_to_euler_angle,
-)
-from ._rotation_quaternion_to_rotation_matrix import (
     rotation_quaternion_to_rotation_matrix,
-)
-from ._rotation_quaternion_to_rotation_vector import (
     rotation_quaternion_to_rotation_vector,
-)
-from ._rotation_vector_identity import rotation_vector_identity
-from ._rotation_vector_magnitude import rotation_vector_magnitude
-from ._rotation_vector_to_euler_angle import rotation_vector_to_euler_angle
-from ._rotation_vector_to_rotation_matrix import (
+    rotation_vector_identity,
+    rotation_vector_magnitude,
+    rotation_vector_to_euler_angle,
     rotation_vector_to_rotation_matrix,
-)
-from ._rotation_vector_to_rotation_quaternion import (
     rotation_vector_to_rotation_quaternion,
 )
 from ._slerp import slerp

diff --git a/src/beignet/_geometry/__init__.py b/src/beignet/_geometry/__init__.py
@@ -0,0 +1,36 @@
+from ._transformations import (
+    apply_euler_angle,
+    apply_rotation_matrix,
+    apply_rotation_quaternion,
+    apply_rotation_vector,
+    compose_rotation_quaternion,
+    euler_angle_identity,
+    euler_angle_magnitude,
+    euler_angle_to_rotation_matrix,
+    euler_angle_to_rotation_quaternion,
+    euler_angle_to_rotation_vector,
+    invert_euler_angle,
+    invert_rotation_matrix,
+    invert_rotation_quaternion,
+    invert_rotation_vector,
+    mean_rotation_quaternion,
+    random_euler_angle,
+    random_rotation_matrix,
+    random_rotation_quaternion,
+    random_rotation_vector,
+    rotation_matrix_identity,
+    rotation_matrix_magnitude,
+    rotation_matrix_to_euler_angle,
+    rotation_matrix_to_rotation_quaternion,
+    rotation_matrix_to_rotation_vector,
+    rotation_quaternion_identity,
+    rotation_quaternion_magnitude,
+    rotation_quaternion_to_euler_angle,
+    rotation_quaternion_to_rotation_matrix,
+    rotation_quaternion_to_rotation_vector,
+    rotation_vector_identity,
+    rotation_vector_magnitude,
+    rotation_vector_to_euler_angle,
+    rotation_vector_to_rotation_matrix,
+    rotation_vector_to_rotation_quaternion,
+)
diff --git a/src/beignet/_geometry/_transformations/__init__.py b/src/beignet/_geometry/_transformations/__init__.py
@@ -0,0 +1,36 @@
+from ._rotations import (
+    apply_euler_angle,
+    apply_rotation_matrix,
+    apply_rotation_quaternion,
+    apply_rotation_vector,
+    compose_rotation_quaternion,
+    euler_angle_identity,
+    euler_angle_magnitude,
+    euler_angle_to_rotation_matrix,
+    euler_angle_to_rotation_quaternion,
+    euler_angle_to_rotation_vector,
+    invert_euler_angle,
+    invert_rotation_matrix,
+    invert_rotation_quaternion,
+    invert_rotation_vector,
+    mean_rotation_quaternion,
+    random_euler_angle,
+    random_rotation_matrix,
+    random_rotation_quaternion,
+    random_rotation_vector,
+    rotation_matrix_identity,
+    rotation_matrix_magnitude,
+    rotation_matrix_to_euler_angle,
+    rotation_matrix_to_rotation_quaternion,
+    rotation_matrix_to_rotation_vector,
+    rotation_quaternion_identity,
+    rotation_quaternion_magnitude,
+    rotation_quaternion_to_euler_angle,
+    rotation_quaternion_to_rotation_matrix,
+    rotation_quaternion_to_rotation_vector,
+    rotation_vector_identity,
+    rotation_vector_magnitude,
+    rotation_vector_to_euler_angle,
+    rotation_vector_to_rotation_matrix,
+    rotation_vector_to_rotation_quaternion,
+)
diff --git a/src/beignet/_geometry/_transformations/_rotations/__init__.py b/src/beignet/_geometry/_transformations/_rotations/__init__.py
@@ -0,0 +1,52 @@
+from ._apply_euler_angle import apply_euler_angle
+from ._apply_rotation_matrix import apply_rotation_matrix
+from ._apply_rotation_quaternion import (
+    apply_rotation_quaternion,
+)
+from ._apply_rotation_vector import apply_rotation_vector
+from ._compose_rotation_quaternion import compose_rotation_quaternion
+from ._euler_angle_identity import euler_angle_identity
+from ._euler_angle_magnitude import euler_angle_magnitude
+from ._euler_angle_to_rotation_matrix import euler_angle_to_rotation_matrix
+from ._euler_angle_to_rotation_quaternion import (
+    euler_angle_to_rotation_quaternion,
+)
+from ._euler_angle_to_rotation_vector import euler_angle_to_rotation_vector
+from ._invert_euler_angle import invert_euler_angle
+from ._invert_rotation_matrix import invert_rotation_matrix
+from ._invert_rotation_quaternion import invert_rotation_quaternion
+from ._invert_rotation_vector import invert_rotation_vector
+from ._mean_rotation_quaternion import mean_rotation_quaternion
+from ._random_euler_angle import random_euler_angle
+from ._random_rotation_matrix import random_rotation_matrix
+from ._random_rotation_quaternion import random_rotation_quaternion
+from ._random_rotation_vector import random_rotation_vector
+from ._rotation_matrix_identity import rotation_matrix_identity
+from ._rotation_matrix_magnitude import rotation_matrix_magnitude
+from ._rotation_matrix_to_euler_angle import rotation_matrix_to_euler_angle
+from ._rotation_matrix_to_rotation_quaternion import (
+    rotation_matrix_to_rotation_quaternion,
+)
+from ._rotation_matrix_to_rotation_vector import (
+    rotation_matrix_to_rotation_vector,
+)
+from ._rotation_quaternion_identity import rotation_quaternion_identity
+from ._rotation_quaternion_magnitude import rotation_quaternion_magnitude
+from ._rotation_quaternion_to_euler_angle import (
+    rotation_quaternion_to_euler_angle,
+)
+from ._rotation_quaternion_to_rotation_matrix import (
+    rotation_quaternion_to_rotation_matrix,
+)
+from ._rotation_quaternion_to_rotation_vector import (
+    rotation_quaternion_to_rotation_vector,
+)
+from ._rotation_vector_identity import rotation_vector_identity
+from ._rotation_vector_magnitude import rotation_vector_magnitude
+from ._rotation_vector_to_euler_angle import rotation_vector_to_euler_angle
+from ._rotation_vector_to_rotation_matrix import (
+    rotation_vector_to_rotation_matrix,
+)
+from ._rotation_vector_to_rotation_quaternion import (
+    rotation_vector_to_rotation_quaternion,
+)
diff --git a/src/beignet/_apply_euler_angle.py → ...rmations/_rotations/_apply_euler_angle.py b/src/beignet/_apply_euler_angle.py → ...rmations/_rotations/_apply_euler_angle.py
diff --git a/src/beignet/_apply_rotation_matrix.py → ...ions/_rotations/_apply_rotation_matrix.py b/src/beignet/_apply_rotation_matrix.py → ...ions/_rotations/_apply_rotation_matrix.py
diff --git a/src/beignet/_apply_rotation_quaternion.py → .../_rotations/_apply_rotation_quaternion.py b/src/beignet/_apply_rotation_quaternion.py → .../_rotations/_apply_rotation_quaternion.py
diff --git a/src/beignet/_apply_rotation_vector.py → ...ions/_rotations/_apply_rotation_vector.py b/src/beignet/_apply_rotation_vector.py → ...ions/_rotations/_apply_rotation_vector.py
diff --git a/src/beignet/_compose_rotation_quaternion.py → ...rotations/_compose_rotation_quaternion.py b/src/beignet/_compose_rotation_quaternion.py → ...rotations/_compose_rotation_quaternion.py
diff --git a/src/beignet/_euler_angle_identity.py → ...tions/_rotations/_euler_angle_identity.py b/src/beignet/_euler_angle_identity.py → ...tions/_rotations/_euler_angle_identity.py
diff --git a/src/beignet/_euler_angle_magnitude.py → ...ions/_rotations/_euler_angle_magnitude.py b/src/beignet/_euler_angle_magnitude.py → ...ions/_rotations/_euler_angle_magnitude.py
diff --git a/...eignet/_euler_angle_to_rotation_matrix.py → ...ations/_euler_angle_to_rotation_matrix.py b/...eignet/_euler_angle_to_rotation_matrix.py → ...ations/_euler_angle_to_rotation_matrix.py
diff --git a/...et/_euler_angle_to_rotation_quaternion.py → ...ns/_euler_angle_to_rotation_quaternion.py b/...et/_euler_angle_to_rotation_quaternion.py → ...ns/_euler_angle_to_rotation_quaternion.py
diff --git a/...eignet/_euler_angle_to_rotation_vector.py → ...ations/_euler_angle_to_rotation_vector.py b/...eignet/_euler_angle_to_rotation_vector.py → ...ations/_euler_angle_to_rotation_vector.py
diff --git a/src/beignet/_invert_euler_angle.py → ...mations/_rotations/_invert_euler_angle.py b/src/beignet/_invert_euler_angle.py → ...mations/_rotations/_invert_euler_angle.py
diff --git a/src/beignet/_invert_rotation_matrix.py → ...ons/_rotations/_invert_rotation_matrix.py b/src/beignet/_invert_rotation_matrix.py → ...ons/_rotations/_invert_rotation_matrix.py
diff --git a/src/beignet/_invert_rotation_quaternion.py → ..._rotations/_invert_rotation_quaternion.py b/src/beignet/_invert_rotation_quaternion.py → ..._rotations/_invert_rotation_quaternion.py
diff --git a/src/beignet/_invert_rotation_vector.py → ...ons/_rotations/_invert_rotation_vector.py b/src/beignet/_invert_rotation_vector.py → ...ons/_rotations/_invert_rotation_vector.py
diff --git a/src/beignet/_mean_rotation_quaternion.py → ...s/_rotations/_mean_rotation_quaternion.py b/src/beignet/_mean_rotation_quaternion.py → ...s/_rotations/_mean_rotation_quaternion.py
diff --git a/src/beignet/_random_euler_angle.py → ...mations/_rotations/_random_euler_angle.py b/src/beignet/_random_euler_angle.py → ...mations/_rotations/_random_euler_angle.py
diff --git a/src/beignet/_random_rotation_matrix.py → ...ons/_rotations/_random_rotation_matrix.py b/src/beignet/_random_rotation_matrix.py → ...ons/_rotations/_random_rotation_matrix.py
diff --git a/src/beignet/_random_rotation_quaternion.py → ..._rotations/_random_rotation_quaternion.py b/src/beignet/_random_rotation_quaternion.py → ..._rotations/_random_rotation_quaternion.py
diff --git a/src/beignet/_random_rotation_vector.py → ...ons/_rotations/_random_rotation_vector.py b/src/beignet/_random_rotation_vector.py → ...ons/_rotations/_random_rotation_vector.py
diff --git a/src/beignet/_rotation_matrix_identity.py → ...s/_rotations/_rotation_matrix_identity.py b/src/beignet/_rotation_matrix_identity.py → ...s/_rotations/_rotation_matrix_identity.py
diff --git a/src/beignet/_rotation_matrix_magnitude.py → .../_rotations/_rotation_matrix_magnitude.py b/src/beignet/_rotation_matrix_magnitude.py → .../_rotations/_rotation_matrix_magnitude.py
diff --git a/...eignet/_rotation_matrix_to_euler_angle.py → ...ations/_rotation_matrix_to_euler_angle.py b/...eignet/_rotation_matrix_to_euler_angle.py → ...ations/_rotation_matrix_to_euler_angle.py
diff --git a/...rotation_matrix_to_rotation_quaternion.py → ...rotation_matrix_to_rotation_quaternion.py b/...rotation_matrix_to_rotation_quaternion.py → ...rotation_matrix_to_rotation_quaternion.py
diff --git a/...et/_rotation_matrix_to_rotation_vector.py → ...ns/_rotation_matrix_to_rotation_vector.py b/...et/_rotation_matrix_to_rotation_vector.py → ...ns/_rotation_matrix_to_rotation_vector.py
diff --git a/src/beignet/_rotation_quaternion_identity.py → ...otations/_rotation_quaternion_identity.py b/src/beignet/_rotation_quaternion_identity.py → ...otations/_rotation_quaternion_identity.py
diff --git a/...beignet/_rotation_quaternion_magnitude.py → ...tations/_rotation_quaternion_magnitude.py b/...beignet/_rotation_quaternion_magnitude.py → ...tations/_rotation_quaternion_magnitude.py
diff --git a/...et/_rotation_quaternion_to_euler_angle.py → ...ns/_rotation_quaternion_to_euler_angle.py b/...et/_rotation_quaternion_to_euler_angle.py → ...ns/_rotation_quaternion_to_euler_angle.py
diff --git a/...rotation_quaternion_to_rotation_matrix.py → ...rotation_quaternion_to_rotation_matrix.py b/...rotation_quaternion_to_rotation_matrix.py → ...rotation_quaternion_to_rotation_matrix.py
diff --git a/...rotation_quaternion_to_rotation_vector.py → ...rotation_quaternion_to_rotation_vector.py b/...rotation_quaternion_to_rotation_vector.py → ...rotation_quaternion_to_rotation_vector.py
diff --git a/src/beignet/_rotation_vector_identity.py → ...s/_rotations/_rotation_vector_identity.py b/src/beignet/_rotation_vector_identity.py → ...s/_rotations/_rotation_vector_identity.py
diff --git a/src/beignet/_rotation_vector_magnitude.py → .../_rotations/_rotation_vector_magnitude.py b/src/beignet/_rotation_vector_magnitude.py → .../_rotations/_rotation_vector_magnitude.py
diff --git a/...eignet/_rotation_vector_to_euler_angle.py → ...ations/_rotation_vector_to_euler_angle.py b/...eignet/_rotation_vector_to_euler_angle.py → ...ations/_rotation_vector_to_euler_angle.py
diff --git a/...et/_rotation_vector_to_rotation_matrix.py → ...ns/_rotation_vector_to_rotation_matrix.py b/...et/_rotation_vector_to_rotation_matrix.py → ...ns/_rotation_vector_to_rotation_matrix.py
diff --git a/...rotation_vector_to_rotation_quaternion.py → ...rotation_vector_to_rotation_quaternion.py b/...rotation_vector_to_rotation_quaternion.py → ...rotation_vector_to_rotation_quaternion.py