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Reusing 3x3 array #84

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Merged
leif81 merged 2 commits into from
Feb 19, 2026
Merged

Reusing 3x3 array #84

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103e99b
perf: reusing identity matrix for performance, removed redundency
mcrrobinson Feb 17, 2026
6ce5cb8
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mcrrobinson Feb 18, 2026
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8 changes: 3 additions & 5 deletions opendis/RangeCoordinates.py
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Original file line number Diff line number Diff line change
Expand Up @@ -112,6 +112,8 @@ class GPS:

wgs84 = WGS84()

_IDENTITY_3X3 = identity(3)

def ecef2lla(self, ecef, tolerance=1e-9):
"""Convert Earth-centered, Earth-fixed coordinates to lat, lon, alt.
Input: ecef - (x, y, z) in (m, m, m)
Expand Down Expand Up @@ -516,20 +518,16 @@ def rotate_3x3(self, theta, normal_vec):
the rotation.
"""

n_v_t = normal_vec.transpose()

n_x = array([[ 0 , -normal_vec[2], normal_vec[1] ],
[normal_vec[2] , 0 , -normal_vec[0]],
[-normal_vec[1], normal_vec[0] , 0 ]
]
)


I = identity(3)

nnt = normal_vec * self.transpose(normal_vec)

return (1 - cos(theta)) * nnt + cos(theta) * I + sin(theta) * n_x
return (1 - cos(theta)) * nnt + cos(theta) * self._IDENTITY_3X3 + sin(theta) * n_x


def transpose(self, arr):
Expand Down