Rotation Utilities
^^^^^^^^^^^^^^^^^^

Conversion Functions
""""""""""""""""""""

.. autofunction:: py123d.geometry.utils.rotation_utils.get_rotation_matrices_from_euler_array

.. autofunction:: py123d.geometry.utils.rotation_utils.get_rotation_matrix_from_euler_array

.. autofunction:: py123d.geometry.utils.rotation_utils.get_euler_array_from_rotation_matrices

.. autofunction:: py123d.geometry.utils.rotation_utils.get_euler_array_from_rotation_matrix

.. autofunction:: py123d.geometry.utils.rotation_utils.get_quaternion_array_from_rotation_matrices

.. autofunction:: py123d.geometry.utils.rotation_utils.get_quaternion_array_from_rotation_matrix

.. autofunction:: py123d.geometry.utils.rotation_utils.get_quaternion_array_from_euler_array

.. autofunction:: py123d.geometry.utils.rotation_utils.get_rotation_matrices_from_quaternion_array

.. autofunction:: py123d.geometry.utils.rotation_utils.get_rotation_matrix_from_quaternion_array

.. autofunction:: py123d.geometry.utils.rotation_utils.get_euler_array_from_quaternion_array

Quaternion Operations
"""""""""""""""""""""

.. autofunction:: py123d.geometry.utils.rotation_utils.normalize_quaternion_array

.. autofunction:: py123d.geometry.utils.rotation_utils.conjugate_quaternion_array

.. autofunction:: py123d.geometry.utils.rotation_utils.invert_quaternion_array

.. autofunction:: py123d.geometry.utils.rotation_utils.multiply_quaternion_arrays

.. autofunction:: py123d.geometry.utils.rotation_utils.slerp_quaternion_arrays

.. autofunction:: py123d.geometry.utils.rotation_utils.nlerp_quaternion_arrays

.. autofunction:: py123d.geometry.utils.rotation_utils.get_q_matrices

.. autofunction:: py123d.geometry.utils.rotation_utils.get_q_bar_matrices

General
"""""""

.. autofunction:: py123d.geometry.utils.rotation_utils.batch_matmul

.. autofunction:: py123d.geometry.utils.rotation_utils.normalize_angle