pytransform3d.batch_rotations.matrices_from_compact_axis_angles

pytransform3d.batch_rotations.matrices_from_compact_axis_angles(A=None, axes=None, angles=None, out=None)[source]

Compute rotation matrices from compact axis-angle representations.

This is called exponential map or Rodrigues’ formula.

This typically results in an active rotation matrix.

Parameters
Aarray-like, shape (…, 3)

Axes of rotation and rotation angles in compact representation: angle * (x, y, z)

axesarray, shape (…, 3)

If the unit axes of rotation have been precomputed, you can pass them here.

anglesarray, shape (…)

If the angles have been precomputed, you can pass them here.

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

Output array to which we write the result

Returns
Rsarray, shape (…, 3, 3)

Rotation matrices

Examples using pytransform3d.batch_rotations.matrices_from_compact_axis_angles