skrobot.coordinates.geo.rotate_points

skrobot.coordinates.geo.rotate_points(points, a, b)

Rotate given points based on a starting and ending vector.

The points are rotated by the shortest-arc rotation that takes a onto b.

Parameters:

• points (numpy.ndarray) – Input points. The shape should be (3, ) or (N, 3).

• a (numpy.ndarray) – nonzero vector.

• b (numpy.ndarray) – nonzero vector.

Returns:

points_rot – rotated points.

Return type:

numpy.ndarray