added rotate_curve function which was still in the notebook files to the utils/function.py

utils/functions.py

@@ -3,6 +3,8 @@ import pandas as pd
 import numpy as np
 import matplotlib.pyplot as plt
 from scipy.interpolate import CubicSpline
+from scipy.spatial.transform import Rotation as R
+
 
 '''
 This file contains the functions required for running the shape sensing notebooks. 
@@ -279,3 +281,24 @@ def path_info(P, name):
     print("Shape of", name, P.shape, "with physical length", P_length)
     return
 
+def rotate_curve(Curve):
+    # Extract last point of curve 
+    last_point = Curve[-1]
+    
+    # Define last point constrained at z=0
+    rotated_last_point = np.array([last_point[0],last_point[1],0])
+    
+    # Compute the angle between both vectors
+    unit_vector_1 = last_point / np.linalg.norm(last_point)
+    unit_vector_2 = rotated_last_point / np.linalg.norm(rotated_last_point)
+
+    dot_product = np.dot(unit_vector_1, unit_vector_2)
+
+    angle = np.arccos(dot_product)
+    
+    # Rotate the entire curve by the angle
+    r = R.from_euler('y',angle)
+    rotated_curve = r.apply(Curve)
+    
+    return rotated_curve
+