pytransform3d.batch_rotations.active_matrices_from_extrinsic_euler_angles

pytransform3d.batch_rotations.active_matrices_from_extrinsic_euler_angles(basis1, basis2, basis3, e, out=None)

Compute active rotation matrices from extrinsic Euler angles.

Parameters:

basis1int

Basis vector of first rotation. 0 corresponds to x axis, 1 to y axis, and 2 to z axis.

basis2int

Basis vector of second rotation. 0 corresponds to x axis, 1 to y axis, and 2 to z axis.

basis3int

Basis vector of third rotation. 0 corresponds to x axis, 1 to y axis, and 2 to z axis.

earray-like, shape (…, 3)

Euler angles

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

Output array to which we write the result

Returns:

Rsarray, shape (…, 3, 3)

Rotation matrices