openfold.utils.geometry.rotation_matrix

Rot3Array Matrix Class.

Classes

Rot3Array(xx, xy, xz, yx, yy, yz, zx, zy, zz)

Rot3Array Matrix in 3 dimensional Space implemented as struct of arrays.

class Rot3Array(xx, xy, xz, yx, yy, yz, zx, zy, zz)

Rot3Array Matrix in 3 dimensional Space implemented as struct of arrays.

Parameters:

• xx (Tensor)

• xy (Tensor)

• xz (Tensor)

• yx (Tensor)

• yy (Tensor)

• yz (Tensor)

• zx (Tensor)

• zy (Tensor)

• zz (Tensor)

apply_inverse_to_point(point)

Applies inverse Rot3Array to point.

Parameters:

point (Vec3Array)

Return type:

Vec3Array

apply_to_point(point)

Applies Rot3Array to point.

Parameters:

point (Vec3Array)

Return type:

Vec3Array

classmethod cat(rots, dim)

Parameters:

• rots (List[Rot3Array])

• dim (int)

Return type:

Rot3Array

classmethod from_array(array)

Construct Rot3Array Matrix from array of shape. […, 3, 3].

Parameters:

array (Tensor)

Return type:

Rot3Array

classmethod from_quaternion(w, x, y, z, normalize=True, eps=1e-06)

Construct Rot3Array from components of quaternion.

Parameters:

• w (Tensor)

• x (Tensor)

• y (Tensor)

• z (Tensor)

• normalize (bool)

• eps (float)

Return type:

Rot3Array

classmethod from_two_vectors(e0, e1)

Construct Rot3Array from two Vectors.

Rot3Array is constructed such that in the corresponding frame ‘e0’ lies on the positive x-Axis and ‘e1’ lies in the xy plane with positive sign of y.

Parameters:

• e0 (Vec3Array) – Vector

• e1 (Vec3Array) – Vector

Returns:

Rot3Array

Return type:

Rot3Array

classmethod identity(shape, device)

Returns identity of given shape.

Return type:

Rot3Array

inverse()

Returns inverse of Rot3Array.

Return type:

Rot3Array

map_tensor_fn(fn)

Return type:

Rot3Array

reshape(new_shape)

stop_gradient()

Return type:

Rot3Array

to_tensor()

Convert Rot3Array to array of shape […, 3, 3].

Return type:

Tensor

unsqueeze(dim)

Parameters:

dim (int)

xx: Tensor

xy: Tensor

xz: Tensor

yx: Tensor

yy: Tensor

yz: Tensor

zx: Tensor

zy: Tensor

zz: Tensor