pytransform3d.batch_rotations.active_matrices_from_angles

pytransform3d.batch_rotations.active_matrices_from_angles(basis, angles, out=None)

Compute active rotation matrices from rotation about basis vectors.

Parameters:

basisint from [0, 1, 2]

The rotation axis (0: x, 1: y, 2: z)

anglesarray-like, shape (…)

Rotation angles

outarray, shape (…, 3, 3), optional (default: new array)

Output array to which we write the result

Returns:

Rsarray, shape (…, 3, 3)

Rotation matrices