Geometry.rotation_matrix

Geometry.rotation_matrix(self, mparam)

Return the rotation matrix to the system state at mparam.

Parameters

mparamarray-like or sequence

Motion parameter(s) at which to evaluate. If motion_params.ndim >= 2, a sequence of that length must be provided.

Returns

rotnumpy.ndarray

The rotation matrix (or matrices) mapping vectors at the initial state to the ones in the state defined by mparam. The rotation is extrinsic, i.e., defined in the “world” coordinate system.