discretize.utils.rotationMatrixFromNormals(v0, v1, tol=1e-20)[source]

Performs the minimum number of rotations to define a rotation from the direction indicated by the vector n0 to the direction indicated by n1. The axis of rotation is n0 x n1 https://en.wikipedia.org/wiki/Rodrigues%27_rotation_formula

  • v0 (numpy.array) – vector of length 3
  • v1 (numpy.array) – vector of length 3
  • = 1e-20 (tol) – tolerance. If the norm of the cross product between the two vectors is below this, no rotation is performed
Return type:

numpy.array, 3x3


rotation matrix which rotates the frame so that n0 is aligned with n1