AxisOrientedGeometry.rotation_matrix

AxisOrientedGeometry.rotation_matrix(self, angle)

Return the rotation matrix to the system state at angle.

The matrix is computed according to Rodrigues’ rotation formula.

Parameters

anglefloat or array-like

Angle(s) in radians describing the counter-clockwise rotation of the system around axis.

Returns

rotnumpy.ndarray

The rotation matrix (or matrices) mapping vectors at the initial state to the ones in the state defined by angle. The rotation is extrinsic, i.e., defined in the “world” coordinate system. If angle is a single parameter, the returned array has shape (3, 3), otherwise angle.shape + (3, 3).