pytransform3d.rotations.active_matrix_from_angle

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

Compute active rotation matrix from rotation about basis vector.

Parameters
basisint from [0, 1, 2]

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

anglefloat

Rotation angle

Returns
Rarray, shape (3, 3)

Rotation matrix

Raises
ValueError

If basis is invalid

Examples using pytransform3d.rotations.active_matrix_from_angle