Closed KaiHabermann closed 3 months ago
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So now your plan is to rotate what exactly? The dict have 4 angles per chain. But I dont know what they mean really
p(1)K(2)pi(3), we take [[2,3],1]
kinematics as a reference
"mkpisq": 1.3743747462964881,
"theta_Kst": 1.0468159811504423,
"phi_Kst": 1.3921357860994747,
"theta_K": 1.692234518478623,
"phi_K": 0.5466265769529981
rotations to be applied to the aligned kinematics are
Rz(phi_Kst) * Ry(theta_Kst) * Rz(phi_K) p_aligned
this way you compute p1
, p2
, p3
, that we are going to pass to your angles
function
Should work now. @mmikhasenko could you have a quick look?
Closes #18