`pytransform3d.rotations`.active_matrix_from_angle¶

pytransform3d.rotations.active_matrix_from_angle(basis, angle)[source]¶

Compute active rotation matrix from rotation about basis vector.

With the angle $\alpha$ and $s = \sin{\alpha}, c=\cos{\alpha}$ , we construct rotation matrices about the basis vectors as follows:

$\boldsymbol{R}_x(\alpha) = \left( \begin{array}{ccc} 1 & 0 & 0\\ 0 & c & -s\\ 0 & s & c \end{array} \right)$

$\boldsymbol{R}_y(\alpha) = \left( \begin{array}{ccc} c & 0 & s\\ 0 & 1 & 0\\ -s & 0 & c \end{array} \right)$

$\boldsymbol{R}_z(\alpha) = \left( \begin{array}{ccc} c & -s & 0\\ s & c & 0\\ 0 & 0 & 1 \end{array} \right)$

Parameters:

Returns:

Raises:

Examples using `pytransform3d.rotations.active_matrix_from_angle`¶