From 03685a8bd0ebc8b811f80b9e0e5aab11aec85d17 Mon Sep 17 00:00:00 2001 From: Allen Goodman Date: Sat, 6 Apr 2024 18:12:15 -0400 Subject: [PATCH] rotation --- pyproject.toml | 5 ++ src/beignet/__init__.py | 68 +++++++------------ src/beignet/_geometry/__init__.py | 36 ++++++++++ .../_geometry/_transformations/__init__.py | 36 ++++++++++ .../_transformations/_rotations/__init__.py | 52 ++++++++++++++ .../_rotations}/_apply_euler_angle.py | 0 .../_rotations}/_apply_rotation_matrix.py | 0 .../_rotations}/_apply_rotation_quaternion.py | 0 .../_rotations}/_apply_rotation_vector.py | 0 .../_compose_rotation_quaternion.py | 0 .../_rotations}/_euler_angle_identity.py | 0 .../_rotations}/_euler_angle_magnitude.py | 0 .../_euler_angle_to_rotation_matrix.py | 0 .../_euler_angle_to_rotation_quaternion.py | 0 .../_euler_angle_to_rotation_vector.py | 0 .../_rotations}/_invert_euler_angle.py | 0 .../_rotations}/_invert_rotation_matrix.py | 0 .../_invert_rotation_quaternion.py | 0 .../_rotations}/_invert_rotation_vector.py | 0 .../_rotations}/_mean_rotation_quaternion.py | 0 .../_rotations}/_random_euler_angle.py | 0 .../_rotations}/_random_rotation_matrix.py | 0 .../_random_rotation_quaternion.py | 0 .../_rotations}/_random_rotation_vector.py | 0 .../_rotations}/_rotation_matrix_identity.py | 0 .../_rotations}/_rotation_matrix_magnitude.py | 0 .../_rotation_matrix_to_euler_angle.py | 0 ..._rotation_matrix_to_rotation_quaternion.py | 0 .../_rotation_matrix_to_rotation_vector.py | 0 .../_rotation_quaternion_identity.py | 0 .../_rotation_quaternion_magnitude.py | 0 .../_rotation_quaternion_to_euler_angle.py | 0 ..._rotation_quaternion_to_rotation_matrix.py | 0 ..._rotation_quaternion_to_rotation_vector.py | 0 .../_rotations}/_rotation_vector_identity.py | 0 .../_rotations}/_rotation_vector_magnitude.py | 0 .../_rotation_vector_to_euler_angle.py | 0 .../_rotation_vector_to_rotation_matrix.py | 0 ..._rotation_vector_to_rotation_quaternion.py | 0 39 files changed, 155 insertions(+), 42 deletions(-) create mode 100644 src/beignet/_geometry/__init__.py create mode 100644 src/beignet/_geometry/_transformations/__init__.py create mode 100644 src/beignet/_geometry/_transformations/_rotations/__init__.py rename src/beignet/{ => _geometry/_transformations/_rotations}/_apply_euler_angle.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_apply_rotation_matrix.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_apply_rotation_quaternion.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_apply_rotation_vector.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_compose_rotation_quaternion.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_euler_angle_identity.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_euler_angle_magnitude.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_euler_angle_to_rotation_matrix.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_euler_angle_to_rotation_quaternion.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_euler_angle_to_rotation_vector.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_invert_euler_angle.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_invert_rotation_matrix.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_invert_rotation_quaternion.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_invert_rotation_vector.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_mean_rotation_quaternion.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_random_euler_angle.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_random_rotation_matrix.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_random_rotation_quaternion.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_random_rotation_vector.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_rotation_matrix_identity.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_rotation_matrix_magnitude.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_rotation_matrix_to_euler_angle.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_rotation_matrix_to_rotation_quaternion.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_rotation_matrix_to_rotation_vector.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_rotation_quaternion_identity.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_rotation_quaternion_magnitude.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_rotation_quaternion_to_euler_angle.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_rotation_quaternion_to_rotation_matrix.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_rotation_quaternion_to_rotation_vector.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_rotation_vector_identity.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_rotation_vector_magnitude.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_rotation_vector_to_euler_angle.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_rotation_vector_to_rotation_matrix.py (100%) rename src/beignet/{ => _geometry/_transformations/_rotations}/_rotation_vector_to_rotation_quaternion.py (100%) diff --git a/pyproject.toml b/pyproject.toml index 520a40aab4..2abfdc3f41 100644 --- 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 index cfc5dfdcc0..20485d7e18 100644 --- 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 new file mode 100644 index 0000000000..ad06d93621 --- /dev/null +++ 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 new file mode 100644 index 0000000000..4ac5a8931c --- /dev/null +++ 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 new file mode 100644 index 0000000000..3c47d0591f --- /dev/null +++ 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 b/src/beignet/_geometry/_transformations/_rotations/_apply_euler_angle.py similarity index 100% rename from src/beignet/_apply_euler_angle.py rename to src/beignet/_geometry/_transformations/_rotations/_apply_euler_angle.py diff --git a/src/beignet/_apply_rotation_matrix.py b/src/beignet/_geometry/_transformations/_rotations/_apply_rotation_matrix.py similarity index 100% rename from src/beignet/_apply_rotation_matrix.py rename to src/beignet/_geometry/_transformations/_rotations/_apply_rotation_matrix.py diff --git a/src/beignet/_apply_rotation_quaternion.py b/src/beignet/_geometry/_transformations/_rotations/_apply_rotation_quaternion.py similarity index 100% rename from src/beignet/_apply_rotation_quaternion.py rename to src/beignet/_geometry/_transformations/_rotations/_apply_rotation_quaternion.py diff --git a/src/beignet/_apply_rotation_vector.py b/src/beignet/_geometry/_transformations/_rotations/_apply_rotation_vector.py similarity index 100% rename from src/beignet/_apply_rotation_vector.py rename to src/beignet/_geometry/_transformations/_rotations/_apply_rotation_vector.py diff --git a/src/beignet/_compose_rotation_quaternion.py b/src/beignet/_geometry/_transformations/_rotations/_compose_rotation_quaternion.py similarity index 100% rename from src/beignet/_compose_rotation_quaternion.py rename to src/beignet/_geometry/_transformations/_rotations/_compose_rotation_quaternion.py diff --git a/src/beignet/_euler_angle_identity.py b/src/beignet/_geometry/_transformations/_rotations/_euler_angle_identity.py similarity index 100% rename from src/beignet/_euler_angle_identity.py rename to src/beignet/_geometry/_transformations/_rotations/_euler_angle_identity.py diff --git a/src/beignet/_euler_angle_magnitude.py b/src/beignet/_geometry/_transformations/_rotations/_euler_angle_magnitude.py similarity index 100% rename from src/beignet/_euler_angle_magnitude.py rename to src/beignet/_geometry/_transformations/_rotations/_euler_angle_magnitude.py diff --git a/src/beignet/_euler_angle_to_rotation_matrix.py b/src/beignet/_geometry/_transformations/_rotations/_euler_angle_to_rotation_matrix.py similarity index 100% rename from src/beignet/_euler_angle_to_rotation_matrix.py rename to src/beignet/_geometry/_transformations/_rotations/_euler_angle_to_rotation_matrix.py diff --git a/src/beignet/_euler_angle_to_rotation_quaternion.py b/src/beignet/_geometry/_transformations/_rotations/_euler_angle_to_rotation_quaternion.py similarity index 100% rename from src/beignet/_euler_angle_to_rotation_quaternion.py rename to src/beignet/_geometry/_transformations/_rotations/_euler_angle_to_rotation_quaternion.py diff --git a/src/beignet/_euler_angle_to_rotation_vector.py b/src/beignet/_geometry/_transformations/_rotations/_euler_angle_to_rotation_vector.py similarity index 100% rename from src/beignet/_euler_angle_to_rotation_vector.py rename to src/beignet/_geometry/_transformations/_rotations/_euler_angle_to_rotation_vector.py diff --git a/src/beignet/_invert_euler_angle.py b/src/beignet/_geometry/_transformations/_rotations/_invert_euler_angle.py similarity index 100% rename from src/beignet/_invert_euler_angle.py rename to src/beignet/_geometry/_transformations/_rotations/_invert_euler_angle.py diff --git a/src/beignet/_invert_rotation_matrix.py b/src/beignet/_geometry/_transformations/_rotations/_invert_rotation_matrix.py similarity index 100% rename from src/beignet/_invert_rotation_matrix.py rename to src/beignet/_geometry/_transformations/_rotations/_invert_rotation_matrix.py diff --git a/src/beignet/_invert_rotation_quaternion.py b/src/beignet/_geometry/_transformations/_rotations/_invert_rotation_quaternion.py similarity index 100% rename from src/beignet/_invert_rotation_quaternion.py rename to src/beignet/_geometry/_transformations/_rotations/_invert_rotation_quaternion.py diff --git a/src/beignet/_invert_rotation_vector.py b/src/beignet/_geometry/_transformations/_rotations/_invert_rotation_vector.py similarity index 100% rename from src/beignet/_invert_rotation_vector.py rename to src/beignet/_geometry/_transformations/_rotations/_invert_rotation_vector.py diff --git a/src/beignet/_mean_rotation_quaternion.py b/src/beignet/_geometry/_transformations/_rotations/_mean_rotation_quaternion.py similarity index 100% rename from src/beignet/_mean_rotation_quaternion.py rename to src/beignet/_geometry/_transformations/_rotations/_mean_rotation_quaternion.py diff --git a/src/beignet/_random_euler_angle.py b/src/beignet/_geometry/_transformations/_rotations/_random_euler_angle.py similarity index 100% rename from src/beignet/_random_euler_angle.py rename to src/beignet/_geometry/_transformations/_rotations/_random_euler_angle.py diff --git a/src/beignet/_random_rotation_matrix.py b/src/beignet/_geometry/_transformations/_rotations/_random_rotation_matrix.py similarity index 100% rename from src/beignet/_random_rotation_matrix.py rename to src/beignet/_geometry/_transformations/_rotations/_random_rotation_matrix.py diff --git a/src/beignet/_random_rotation_quaternion.py b/src/beignet/_geometry/_transformations/_rotations/_random_rotation_quaternion.py similarity index 100% rename from src/beignet/_random_rotation_quaternion.py rename to src/beignet/_geometry/_transformations/_rotations/_random_rotation_quaternion.py diff --git a/src/beignet/_random_rotation_vector.py b/src/beignet/_geometry/_transformations/_rotations/_random_rotation_vector.py similarity index 100% rename from src/beignet/_random_rotation_vector.py rename to src/beignet/_geometry/_transformations/_rotations/_random_rotation_vector.py diff --git a/src/beignet/_rotation_matrix_identity.py b/src/beignet/_geometry/_transformations/_rotations/_rotation_matrix_identity.py similarity index 100% rename from src/beignet/_rotation_matrix_identity.py rename to src/beignet/_geometry/_transformations/_rotations/_rotation_matrix_identity.py diff --git a/src/beignet/_rotation_matrix_magnitude.py b/src/beignet/_geometry/_transformations/_rotations/_rotation_matrix_magnitude.py similarity index 100% rename from src/beignet/_rotation_matrix_magnitude.py rename to src/beignet/_geometry/_transformations/_rotations/_rotation_matrix_magnitude.py diff --git a/src/beignet/_rotation_matrix_to_euler_angle.py b/src/beignet/_geometry/_transformations/_rotations/_rotation_matrix_to_euler_angle.py similarity index 100% rename from src/beignet/_rotation_matrix_to_euler_angle.py rename to src/beignet/_geometry/_transformations/_rotations/_rotation_matrix_to_euler_angle.py diff --git a/src/beignet/_rotation_matrix_to_rotation_quaternion.py b/src/beignet/_geometry/_transformations/_rotations/_rotation_matrix_to_rotation_quaternion.py similarity index 100% rename from src/beignet/_rotation_matrix_to_rotation_quaternion.py rename to src/beignet/_geometry/_transformations/_rotations/_rotation_matrix_to_rotation_quaternion.py diff --git a/src/beignet/_rotation_matrix_to_rotation_vector.py b/src/beignet/_geometry/_transformations/_rotations/_rotation_matrix_to_rotation_vector.py similarity index 100% rename from src/beignet/_rotation_matrix_to_rotation_vector.py rename to src/beignet/_geometry/_transformations/_rotations/_rotation_matrix_to_rotation_vector.py diff --git a/src/beignet/_rotation_quaternion_identity.py b/src/beignet/_geometry/_transformations/_rotations/_rotation_quaternion_identity.py similarity index 100% rename from src/beignet/_rotation_quaternion_identity.py rename to src/beignet/_geometry/_transformations/_rotations/_rotation_quaternion_identity.py diff --git a/src/beignet/_rotation_quaternion_magnitude.py b/src/beignet/_geometry/_transformations/_rotations/_rotation_quaternion_magnitude.py similarity index 100% rename from src/beignet/_rotation_quaternion_magnitude.py rename to src/beignet/_geometry/_transformations/_rotations/_rotation_quaternion_magnitude.py diff --git a/src/beignet/_rotation_quaternion_to_euler_angle.py b/src/beignet/_geometry/_transformations/_rotations/_rotation_quaternion_to_euler_angle.py similarity index 100% rename from src/beignet/_rotation_quaternion_to_euler_angle.py rename to src/beignet/_geometry/_transformations/_rotations/_rotation_quaternion_to_euler_angle.py diff --git a/src/beignet/_rotation_quaternion_to_rotation_matrix.py b/src/beignet/_geometry/_transformations/_rotations/_rotation_quaternion_to_rotation_matrix.py similarity index 100% rename from src/beignet/_rotation_quaternion_to_rotation_matrix.py rename to src/beignet/_geometry/_transformations/_rotations/_rotation_quaternion_to_rotation_matrix.py diff --git a/src/beignet/_rotation_quaternion_to_rotation_vector.py b/src/beignet/_geometry/_transformations/_rotations/_rotation_quaternion_to_rotation_vector.py similarity index 100% rename from src/beignet/_rotation_quaternion_to_rotation_vector.py rename to src/beignet/_geometry/_transformations/_rotations/_rotation_quaternion_to_rotation_vector.py diff --git a/src/beignet/_rotation_vector_identity.py b/src/beignet/_geometry/_transformations/_rotations/_rotation_vector_identity.py similarity index 100% rename from src/beignet/_rotation_vector_identity.py rename to src/beignet/_geometry/_transformations/_rotations/_rotation_vector_identity.py diff --git a/src/beignet/_rotation_vector_magnitude.py b/src/beignet/_geometry/_transformations/_rotations/_rotation_vector_magnitude.py similarity index 100% rename from src/beignet/_rotation_vector_magnitude.py rename to src/beignet/_geometry/_transformations/_rotations/_rotation_vector_magnitude.py diff --git a/src/beignet/_rotation_vector_to_euler_angle.py b/src/beignet/_geometry/_transformations/_rotations/_rotation_vector_to_euler_angle.py similarity index 100% rename from src/beignet/_rotation_vector_to_euler_angle.py rename to src/beignet/_geometry/_transformations/_rotations/_rotation_vector_to_euler_angle.py diff --git a/src/beignet/_rotation_vector_to_rotation_matrix.py b/src/beignet/_geometry/_transformations/_rotations/_rotation_vector_to_rotation_matrix.py similarity index 100% rename from src/beignet/_rotation_vector_to_rotation_matrix.py rename to src/beignet/_geometry/_transformations/_rotations/_rotation_vector_to_rotation_matrix.py diff --git a/src/beignet/_rotation_vector_to_rotation_quaternion.py b/src/beignet/_geometry/_transformations/_rotations/_rotation_vector_to_rotation_quaternion.py similarity index 100% rename from src/beignet/_rotation_vector_to_rotation_quaternion.py rename to src/beignet/_geometry/_transformations/_rotations/_rotation_vector_to_rotation_quaternion.py