rigid_body_motion.best_fit_rotation¶

rigid_body_motion.best_fit_rotation(v1, v2, dim=None, axis=None)[source]¶

Least-squares best-fit rotation between two arrays of vectors.

Finds the rotation r that minimizes:

\[|| v_2 - rot(r, v_1) ||\]

Parameters

v1: array_like, shape (…, 3, …): The first array of vectors.
v2: array_like, shape (…, 3, …): The second array of vectors.
dim: str, optional: If the first array is a DataArray, the name of the dimension representing the spatial coordinates of the vectors.
axis: int, optional: The axis of the arrays representing the spatial coordinates of the vectors. Defaults to the last axis of the arrays.

Returns