# RotEx
**RotEx** is a set of python helper functions to apply 3D rotation, like Euler Angles etc, based on _scipy.spatial.transform.Rotation_.
You can learn, understand and test Rotation quickly, and use these functions in your codes easily.
It includes:
- **rotex**, the core of module, as an extension of _scipy.spatial.transform.Rotation_. It provides basic algrithm from mathematics perspective.
- **attitude, rotate_vectors** ..., providing some functions for all kinds of applications of rotation from application perspective.
- **tests**, pytest functions for the above, for dev only.
- **tools**, some tools, for dev only.
Please see the comments above all functions in source code to get details.
Please ref to ./tests/* code to get some examples to call these functions.
**Make rotation easy, not dizzy!**
## Dependencies
- python >3.0
- scipy
- pytest
## Installation
- Install from the [Python Package Index](https://pypi.org/project/RotEx/):
```bash
pip install RotEx
```
- Install from the source:
```bash
cd RotEx
pip install -e .
```
## Get started
- Use the RotEx module
```python
from RotEx import utils
from RotEx import rotex
from RotEx import attitude
from RotEx import rotate_vectors
(rot, att) = attitude.from_heading_in_enu_frame(np.array([-1, 2, 3]), 15, True)
...
```
- Try test RotEx (only for from source)
Run test.py in the root. It calls tests on all functions provided in RotEx folder.
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