axangle2mat

marxs.math.rotations.axangle2mat(axes, angles, is_normalized=False)

Rotation matrix for rotation angle angle around axis

This is a vectorized version of the routine of the same name in transforms3d.

Parameters:

axesnp.array of shape (N, 3)

vector specifying axis for rotation.

anglenp.array

angle of rotation in radians.

is_normalizedbool, optional

True if axis is already normalized (has norm of 1). Default False.

Returns:

matarray shape (N, 3,3)

rotation matrices for specified rotation

Notes

From: http://en.wikipedia.org/wiki/Rotation_matrix#Axis_and_angle