matvis.coordinates.axis_angle_rotation_matrix

matvis.coordinates.axis_angle_rotation_matrix(axis, angle)

Build rotation matrix via Rodrigues’ formula.

Parameters:

• axis (ndarray, shape (3, N)) – Unit rotation axis for each of N rotations.

• angle (array_like, shape (N,)) – Rotation angles in radians.

Returns:

rot_matrix – The rotation matrices R such that R[…, i] rotates by angle[i] about axis[:, i].

Return type:

ndarray, shape (3, 3, N)