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41 lines
1.0 KiB
Python
41 lines
1.0 KiB
Python
"""
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Geometric transforms
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"""
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from typing import Sequence, Tuple
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import numpy
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from numpy.typing import NDArray
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def rotation_matrix_2d(theta: float) -> NDArray[numpy.float64]:
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"""
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2D rotation matrix for rotating counterclockwise around the origin.
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Args:
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theta: Angle to rotate, in radians
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Returns:
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rotation matrix
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"""
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return numpy.array([[numpy.cos(theta), -numpy.sin(theta)],
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[numpy.sin(theta), +numpy.cos(theta)]])
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def normalize_mirror(mirrored: Sequence[bool]) -> Tuple[bool, float]:
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"""
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Converts 0-2 mirror operations `(mirror_across_x_axis, mirror_across_y_axis)`
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into 0-1 mirror operations and a rotation
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Args:
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mirrored: `(mirror_across_x_axis, mirror_across_y_axis)`
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Returns:
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`mirror_across_x_axis` (bool) and
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`angle_to_rotate` in radians
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"""
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mirrored_x, mirrored_y = mirrored
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mirror_x = (mirrored_x != mirrored_y) # XOR
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angle = numpy.pi if mirrored_y else 0
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return mirror_x, angle
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