discretize.utils.rotationMatrixFromNormals¶

discretize.utils.
rotationMatrixFromNormals
(v0, v1, tol=1e20)[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
Parameters:  v0 (numpy.array) – vector of length 3
 v1 (numpy.array) – vector of length 3
 = 1e20 (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
Returns: rotation matrix which rotates the frame so that n0 is aligned with n1